+ python -m lidar_slam --no-model /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 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 0.02587156 Adjusted end_distance from 9.223372036854776e+18 to 310.00587156 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02587156 meters Centerline goodness : 0.715808 Centerline is valid? [0, False] SLAMing on 0.05587156 meters Centerline goodness : 0.693148 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999991e-01 1.27658987e-04 -5.10342335e-05 1.84556200e-03] [-1.27639479e-04 9.99999919e-01 3.82075671e-04 -2.41569078e-03] [ 5.10830048e-05 -3.82069154e-04 9.99999926e-01 -1.74221720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08587156 meters Centerline goodness : 0.673465 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999238e-01 -1.02888620e-03 -6.81515320e-04 8.05236611e-03] [ 1.02864216e-03 9.99999407e-01 -3.58330144e-04 -2.46025864e-03] [ 6.81883596e-04 3.57628836e-04 9.99999704e-01 -6.27344490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11587156000000001 meters Centerline goodness : 0.601501 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998767e-01 -1.22674860e-03 -9.80286002e-04 1.25435488e-02] [ 1.22667689e-03 9.99999245e-01 -7.37501982e-05 -5.32710784e-03] [ 9.80375734e-04 7.25476131e-05 9.99999517e-01 -8.49649729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14587156 meters Centerline goodness : 0.609784 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998748e-01 -1.17877177e-03 -1.05532888e-03 1.42394343e-02] [ 1.17904454e-03 9.99999272e-01 2.57884611e-04 -6.93634015e-03] [ 1.05502412e-03 -2.59128568e-04 9.99999410e-01 -1.00719645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17587156 meters Centerline goodness : 0.572420 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99995393e-01 -2.57924185e-03 -1.60028832e-03 2.09533932e-02] [ 2.57818893e-03 9.99996459e-01 -6.59669768e-04 -6.72174013e-03] [ 1.60198410e-03 6.55540884e-04 9.99998502e-01 -1.52530340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20587156 meters Centerline goodness : 0.583237 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99995217e-01 -2.54270445e-03 -1.76067629e-03 2.46625752e-02] [ 2.54263334e-03 9.99996767e-01 -4.26279375e-05 -1.15929850e-02] [ 1.76077899e-03 3.81509793e-05 9.99998449e-01 -1.69012040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23587156 meters Centerline goodness : 0.618415 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99995453e-01 -2.45533936e-03 -1.75085624e-03 2.62165679e-02] [ 2.45597821e-03 9.99996918e-01 3.62821597e-04 -1.31774752e-02] [ 1.74995999e-03 -3.67120011e-04 9.99998401e-01 -1.86277332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26587156 meters Centerline goodness : 0.570642 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99995866e-01 -2.19733950e-03 -1.85449554e-03 2.82406414e-02] [ 2.19911880e-03 9.99997123e-01 9.57958060e-04 -1.64993208e-02] [ 1.85238525e-03 -9.62032356e-04 9.99997822e-01 -2.03557764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29587156000000003 meters Centerline goodness : 0.630010 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.9999965 -0.00179054 -0.00194699 0.0301639 ] [ 0.00179403 0.99999678 0.00179278 -0.02189353] [ 0.00194378 -0.00179627 0.9999965 -0.02211157] [ 0. 0. 0. 1. ]] SLAMing on 0.32587156000000006 meters Centerline goodness : 0.614187 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999467 -0.00200565 -0.0025761 0.04022651] [ 0.00201068 0.99999607 0.00195296 -0.02648887] [ 0.00257217 -0.00195813 0.99999477 -0.02877402] [ 0. 0. 0. 1. ]] SLAMing on 0.35587156000000003 meters Centerline goodness : 0.639158 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999464 -0.0017649 -0.00275679 0.04286541] [ 0.00177087 0.99999609 0.00216585 -0.0267626 ] [ 0.00275296 -0.00217072 0.99999385 -0.03096131] [ 0. 0. 0. 1. ]] SLAMing on 0.38587156000000006 meters Centerline goodness : 0.631021 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.03 [[ 0.99999479 -0.00148516 -0.00286663 0.04484223] [ 0.00149177 0.99999624 0.002303 -0.02729948] [ 0.0028632 -0.00230727 0.99999324 -0.03240286] [ 0. 0. 0. 1. ]] SLAMing on 0.41587156000000003 meters Centerline goodness : 0.601293 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 0.99999493 -0.00107798 -0.00299515 0.04707316] [ 0.00108539 0.99999635 0.00247354 -0.02876024] [ 0.00299247 -0.00247677 0.99999246 -0.03372191] [ 0. 0. 0. 1. ]] SLAMing on 0.44587156000000006 meters Centerline goodness : 0.557340 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99999209 0.00129091 -0.00376098 0.05726033] [-0.00127671 0.99999206 0.00377558 -0.0327409 ] [ 0.00376582 -0.00377075 0.9999858 -0.03897221] [ 0. 0. 0. 1. ]] SLAMing on 0.47587156 meters Centerline goodness : 0.606669 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99999039 0.00162826 -0.00407168 0.06020323] [-0.00161319 0.99999184 0.00370246 -0.03213899] [ 0.00407768 -0.00369585 0.99998486 -0.04066206] [ 0. 0. 0. 1. ]] SLAMing on 0.50587156 meters Centerline goodness : 0.598276 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.9999883 0.00203379 -0.00438874 0.06332754] [-0.00201763 0.99999119 0.00368156 -0.03196255] [ 0.00439619 -0.00367266 0.99998359 -0.0424237 ] [ 0. 0. 0. 1. ]] SLAMing on 0.53587156 meters Centerline goodness : 0.575518 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.05 [[ 0.99997669 0.00453248 -0.00510609 0.07340693] [-0.00450809 0.99997843 0.00477719 -0.03381171] [ 0.00512763 -0.00475406 0.99997555 -0.04766625] [ 0. 0. 0. 1. ]] SLAMing on 0.56587156 meters Centerline goodness : 0.612063 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99997277 0.00490492 -0.005514 0.07694197] [-0.00487968 0.9999776 0.00458148 -0.03206578] [ 0.00553635 -0.00455445 0.9999743 -0.04964385] [ 0. 0. 0. 1. ]] SLAMing on 0.5958715600000001 meters Centerline goodness : 0.556982 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99996866 0.00524204 -0.00593248 0.08065357] [-0.0052161 0.9999768 0.00438014 -0.03017988] [ 0.0059553 -0.00434906 0.99997281 -0.05181633] [ 0. 0. 0. 1. ]] SLAMing on 0.6258715600000001 meters Centerline goodness : 0.559458 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.99996421 0.00563388 -0.00631151 0.08415686] [-0.00560738 0.99997543 0.00420749 -0.02879561] [ 0.00633506 -0.00417195 0.99997123 -0.05363797] [ 0. 0. 0. 1. ]] SLAMing on 0.65587156 meters Centerline goodness : 0.572520 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99994557 0.00769002 -0.00705177 0.09310388] [-0.00765528 0.99995849 0.00494044 -0.0295917 ] [ 0.00708947 -0.00488619 0.99996293 -0.05771366] [ 0. 0. 0. 1. ]] SLAMing on 0.68587156 meters Centerline goodness : 0.619443 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.06 [[ 0.99994004 0.00800811 -0.00746943 0.09679487] [-0.00797263 0.99995685 0.00476781 -0.02850128] [ 0.00750729 -0.00470797 0.99996074 -0.0597999 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7158715600000001 meters Centerline goodness : 0.583101 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.06 [[ 0.99993569 0.00823369 -0.00779835 0.09997668] [-0.00819903 0.99995641 0.00446653 -0.02667088] [ 0.00783479 -0.0044023 0.99995962 -0.06169032] [ 0. 0. 0. 1. ]] SLAMing on 0.7458715600000001 meters Centerline goodness : 0.508634 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99993123 0.00845797 -0.00812367 0.10299761] [-0.00842434 0.99995584 0.00416452 -0.02422146] [ 0.00815853 -0.00409579 0.99995833 -0.06336744] [ 0. 0. 0. 1. ]] SLAMing on 0.7758715600000001 meters Centerline goodness : 0.543546 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 0.99990779 0.01036489 -0.00877425 0.11209429] [-0.01032389 0.99993564 0.00470417 -0.01888228] [ 0.00882244 -0.00461315 0.99995044 -0.06786096] [ 0. 0. 0. 1. ]] SLAMing on 0.80587156 meters Centerline goodness : 0.520813 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 0.99990637 0.01030656 -0.00900133 0.11450465] [-0.01026864 0.99993825 0.00424841 -0.01541067] [ 0.00904456 -0.00415558 0.99995046 -0.0694452 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8358715600000001 meters Centerline goodness : 0.537989 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99990437 0.01031899 -0.00920695 0.11682832] [-0.01028282 0.99993926 0.00396757 -0.01342674] [ 0.00924733 -0.00387252 0.99994974 -0.07094509] [ 0. 0. 0. 1. ]] SLAMing on 0.8658715600000001 meters Centerline goodness : 0.550204 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.99990213 0.01031928 -0.00944679 0.11922594] [-0.01028418 0.99994006 0.00375642 -0.01199491] [ 0.00948499 -0.0036589 0.99994832 -0.07265493] [ 0. 0. 0. 1. ]] SLAMing on 0.8958715600000001 meters Centerline goodness : 0.568016 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.9999003 0.01029002 -0.00966966 0.12163696] [-0.01025626 0.99994116 0.00353423 -0.01051742] [ 0.00970546 -0.0034347 0.999947 -0.07442063] [ 0. 0. 0. 1. ]] SLAMing on 0.92587156 meters Centerline goodness : 0.568016 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.07 [[ 0.9999003 0.01029002 -0.00966966 0.12163696] [-0.01025626 0.99994116 0.00353423 -0.01051742] [ 0.00970546 -0.0034347 0.999947 -0.07442063] [ 0. 0. 0. 1. ]] SLAMing on 0.9558715600000001 meters Centerline goodness : 0.528754 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.08 [[ 0.99989908 0.01022228 -0.00986627 0.12627987] [-0.01019286 0.99994347 0.0030283 -0.00750423] [ 0.00989667 -0.00292743 0.99994674 -0.07600232] [ 0. 0. 0. 1. ]] SLAMing on 0.9858715600000001 meters Centerline goodness : 0.522997 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.08 [[ 0.99989728 0.01012342 -0.01014651 0.1288671 ] [-0.01009584 0.99994521 0.0027666 -0.00576014] [ 0.01017396 -0.00266388 0.9999447 -0.07777914] [ 0. 0. 0. 1. ]] SLAMing on 1.0158715600000001 meters Centerline goodness : 0.446188 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.08 [[ 0.99989667 0.0099431 -0.01038189 0.13139173] [-0.0099194 0.99994808 0.00233229 -0.00266913] [ 0.01040454 -0.00222907 0.99994339 -0.07945349] [ 0. 0. 0. 1. ]] SLAMing on 1.04587156 meters Centerline goodness : 0.424302 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 0.99989908 0.00954179 -0.01052499 0.13600359] [-0.00952951 0.99995385 0.0012164 0.00640675] [ 0.01053611 -0.00111598 0.99994387 -0.08086531] [ 0. 0. 0. 1. ]] SLAMing on 1.07587156 meters Centerline goodness : 0.331524 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 9.99899020e-01 9.32062632e-03 -1.07273788e-02 1.38107665e-01] [-9.31352216e-03 9.99956375e-01 7.12013288e-04 9.92805254e-03] [ 1.07335472e-02 -6.12031709e-04 9.99942207e-01 -8.21583160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10587156 meters Centerline goodness : 0.449121 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 9.99898085e-01 9.14548122e-03 -1.09626121e-02 1.40231270e-01] [-9.14197119e-03 9.99958143e-01 3.70251343e-04 1.17755550e-02] [ 1.09655393e-02 -2.69993725e-04 9.99939840e-01 -8.33182522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.13587156 meters Centerline goodness : 0.271992 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.08 [[ 9.99896836e-01 9.03825598e-03 -1.11636982e-02 1.42407122e-01] [-9.03661354e-03 9.99959149e-01 1.97558243e-04 1.22183094e-02] [ 1.11650277e-02 -9.66558361e-05 9.99937664e-01 -8.46675616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.16587156 meters Centerline goodness : 0.279228 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.09 [[ 9.99895765e-01 8.83866584e-03 -1.14165357e-02 1.44802885e-01] [-8.83855378e-03 9.99960937e-01 6.02715026e-05 1.22974838e-02] [ 1.14166225e-02 4.06404445e-05 9.99934827e-01 -8.60310540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.19587156 meters Centerline goodness : 0.223979 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.09 [[ 9.99901608e-01 7.79604902e-03 -1.16617650e-02 1.48890899e-01] [-7.79863234e-03 9.99969575e-01 -1.76061795e-04 1.29505718e-02] [ 1.16600376e-02 2.66990289e-04 9.99931984e-01 -8.69501143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22587156 meters Centerline goodness : 0.084730 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.09 [[ 9.99900699e-01 7.30236286e-03 -1.20527328e-02 1.51630250e-01] [-7.30506735e-03 9.99973301e-01 -1.80378367e-04 1.28172977e-02] [ 1.20510938e-02 2.68406479e-04 9.99927347e-01 -8.82810268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.25587156 meters Centerline goodness : 0.084904 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.09 [[ 9.99906136e-01 4.26323917e-03 -1.30209105e-02 1.60912146e-01] [-4.27482041e-03 9.99990492e-01 -8.61731007e-04 1.35837667e-02] [ 1.30171129e-02 9.17312175e-04 9.99914853e-01 -9.23384722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28587156 meters Centerline goodness : 0.199223 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.09 [[ 9.99902637e-01 3.63442409e-03 -1.34724412e-02 1.64007161e-01] [-3.64369631e-03 9.99993141e-01 -6.63753926e-04 1.15751852e-02] [ 1.34699364e-02 7.12778785e-04 9.99909022e-01 -9.36160938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.31587156 meters Centerline goodness : 0.229586 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.10 [[ 9.99903760e-01 2.41238280e-05 -1.38733307e-02 1.69126454e-01] [-8.33274146e-05 9.99990893e-01 -4.26687637e-03 1.21003554e-02] [ 1.38731014e-02 4.26762176e-03 9.99894657e-01 -9.74841013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.34587156 meters Centerline goodness : 0.225636 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.12 [[ 0.99998758 -0.00362558 -0.00342104 0.16532481] [ 0.00360549 0.99997633 -0.00585982 0.01007834] [ 0.0034422 0.00584741 0.99997698 -0.12309907] [ 0. 0. 0. 1. ]] SLAMing on 1.37587156 meters Centerline goodness : 0.223875 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:-0.13 [[ 0.99996521 -0.00738717 -0.00387378 0.17156642] [ 0.00735222 0.99993283 -0.00896024 0.00397523] [ 0.00393971 0.00893144 0.99995235 -0.12655503] [ 0. 0. 0. 1. ]] SLAMing on 1.40587156 meters Centerline goodness : 0.212768 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.13 [[ 9.99963959e-01 -7.33729527e-03 -4.27143962e-03 1.74616308e-01] [ 7.30146041e-03 9.99938520e-01 -8.34540813e-03 -6.34241018e-04] [ 4.33240973e-03 8.31391961e-03 9.99956054e-01 -1.28144660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.43587156 meters Centerline goodness : 0.233720 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:-0.13 [[ 0.99996369 -0.00717255 -0.00460083 0.17711414] [ 0.00713665 0.99994434 -0.00777063 -0.00457362] [ 0.00465631 0.00773751 0.99995922 -0.12938326] [ 0. 0. 0. 1. ]] SLAMing on 1.46587156 meters Centerline goodness : 0.235081 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.13 [[ 0.99996443 -0.00687369 -0.00488694 0.1794168 ] [ 0.00683874 0.99995118 -0.00713284 -0.0085722 ] [ 0.00493573 0.00709917 0.99996262 -0.13064637] [ 0. 0. 0. 1. ]] SLAMing on 1.49587156 meters Centerline goodness : 0.211517 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.13 [[ 0.99996883 -0.00592926 -0.00521283 0.18508094] [ 0.00589909 0.99996587 -0.00578387 -0.015924 ] [ 0.00524694 0.00575294 0.99996969 -0.133499 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5258715600000001 meters Centerline goodness : 0.241673 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.13 [[ 0.99996985 -0.00544965 -0.00553175 0.18786933] [ 0.00542156 0.9999724 -0.00508042 -0.02081071] [ 0.00555928 0.00505028 0.99997179 -0.13490228] [ 0. 0. 0. 1. ]] SLAMing on 1.55587156 meters Centerline goodness : 0.266155 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.14 [[ 0.99997108 -0.0049072 -0.00580953 0.19023753] [ 0.00488232 0.99997888 -0.00428907 -0.02672599] [ 0.00583045 0.00426058 0.99997393 -0.13617037] [ 0. 0. 0. 1. ]] SLAMing on 1.58587156 meters Centerline goodness : 0.248346 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.14 [[ 9.99951731e-01 -6.05809416e-04 -9.80654731e-03 2.19338402e-01] [ 5.62074907e-04 9.99989888e-01 -4.46186741e-03 -3.73286648e-02] [ 9.80915119e-03 4.45614002e-03 9.99941960e-01 -1.36408021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.61587156 meters Centerline goodness : 0.218608 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.14 [[ 9.99947729e-01 -1.41541914e-04 -1.02234381e-02 2.22764285e-01] [ 1.01776191e-04 9.99992428e-01 -3.89007796e-03 -4.06935931e-02] [ 1.02239113e-02 3.88883413e-03 9.99940173e-01 -1.38184735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.64587156 meters Centerline goodness : 0.249771 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:-0.14 [[ 9.99943887e-01 3.99610138e-04 -1.05859941e-02 2.25774271e-01] [-4.34050038e-04 9.99994620e-01 -3.25124817e-03 -4.49317888e-02] [ 1.05846379e-02 3.25566059e-03 9.99938681e-01 -1.39540952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.67587156 meters Centerline goodness : 0.228452 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:-0.17 [[ 0.99999792 0.00172347 0.00109067 0.22003274] [-0.00172098 0.99999593 -0.00227345 -0.05108866] [-0.00109459 0.00227157 0.99999682 -0.1690486 ] [ 0. 0. 0. 1. ]] SLAMing on 1.70587156 meters Centerline goodness : 0.239112 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.17 [[ 9.99994236e-01 3.34210979e-03 5.98144887e-04 2.27125106e-01] [-3.34147584e-03 9.99993858e-01 -1.05774054e-03 -5.82721559e-02] [-6.01676298e-04 1.05573576e-03 9.99999262e-01 -1.71227867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.73587156 meters Centerline goodness : 0.229259 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.17 [[ 9.99989310e-01 4.62062611e-03 -1.74805185e-04 2.33948600e-01] [-4.62063808e-03 9.99989322e-01 -6.81226171e-05 -6.13493790e-02] [ 1.74488549e-04 6.89296003e-05 9.99999982e-01 -1.74815970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7658715600000001 meters Centerline goodness : 0.054871 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.07, Z:-0.18 [[ 9.99983157e-01 5.73760046e-03 -8.75484297e-04 2.40024307e-01] [-5.73689612e-03 9.99983220e-01 8.04921157e-04 -6.51429596e-02] [ 8.80087922e-04 -7.99885036e-04 9.99999293e-01 -1.77744714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7958715600000001 meters Centerline goodness : 0.222601 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:-0.18 [[ 0.99996609 0.00804725 -0.00175121 0.25012859] [-0.00804381 0.99996572 0.0019654 -0.07246976] [ 0.00176696 -0.00195125 0.99999654 -0.18131528] [ 0. 0. 0. 1. ]] SLAMing on 1.82587156 meters Centerline goodness : 0.224118 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:-0.18 [[ 0.99995993 0.00864026 -0.00234034 0.25448421] [-0.00863521 0.99996039 0.00215848 -0.07295034] [ 0.0023589 -0.00213818 0.99999493 -0.18291293] [ 0. 0. 0. 1. ]] SLAMing on 1.85587156 meters Centerline goodness : 0.219766 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.08, Z:-0.19 [[ 0.99994316 0.01013706 -0.00330447 0.2629158 ] [-0.01012681 0.9999439 0.00310517 -0.07518834] [ 0.00333576 -0.00307153 0.99998972 -0.18726797] [ 0. 0. 0. 1. ]] SLAMing on 1.88587156 meters Centerline goodness : 0.095839 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.19 [[ 0.99993562 0.01068193 -0.00382708 0.26728309] [-0.01066913 0.99993747 0.00335134 -0.07626362] [ 0.00386264 -0.00331029 0.99998706 -0.18895339] [ 0. 0. 0. 1. ]] SLAMing on 1.91587156 meters Centerline goodness : 0.107221 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.19 [[ 0.99992399 0.01165912 -0.00401021 0.27220883] [-0.01164342 0.99992455 0.00391496 -0.08024399] [ 0.00405555 -0.00386797 0.9999843 -0.18933511] [ 0. 0. 0. 1. ]] SLAMing on 1.94587156 meters Centerline goodness : 0.056254 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.19 [[ 0.99991889 0.01194931 -0.00440872 0.27549178] [-0.0119308 0.99992 0.00420016 -0.08204954] [ 0.00445856 -0.00414722 0.99998146 -0.19050208] [ 0. 0. 0. 1. ]] SLAMing on 1.97587156 meters Centerline goodness : 0.054262 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.19 [[ 0.99991322 0.012297 -0.00472564 0.27851145] [-0.01227497 0.99991378 0.00466416 -0.08509653] [ 0.00478259 -0.00460575 0.99997796 -0.19152027] [ 0. 0. 0. 1. ]] SLAMing on 2.00587156 meters Centerline goodness : 0.056357 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.19 [[ 0.99993593 0.00990857 -0.00547274 0.28756883] [-0.00990111 0.99995002 0.00138928 -0.08613827] [ 0.00548623 -0.001335 0.99998406 -0.19485101] [ 0. 0. 0. 1. ]] SLAMing on 2.0358715600000004 meters Centerline goodness : 0.059624 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.20 [[ 0.99993141 0.01013671 -0.00586674 0.29098496] [-0.01012609 0.99994704 0.00183599 -0.08908479] [ 0.00588504 -0.00177646 0.99998111 -0.19643159] [ 0. 0. 0. 1. ]] SLAMing on 2.06587156 meters Centerline goodness : 0.106454 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:-0.20 [[ 0.99992702 0.01030686 -0.00630293 0.29459599] [-0.0102934 0.99994468 0.00216457 -0.09108458] [ 0.00632489 -0.00209953 0.99997779 -0.19798254] [ 0. 0. 0. 1. ]] SLAMing on 2.0958715600000004 meters Centerline goodness : 0.058604 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:-0.20 [[ 0.99992255 0.01048969 -0.0066975 0.2980496 ] [-0.01047331 0.99994209 0.00247617 -0.09343796] [ 0.00672308 -0.00240584 0.99997451 -0.19953766] [ 0. 0. 0. 1. ]] SLAMing on 2.12587156 meters Centerline goodness : 0.057241 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.20 [[ 0.99993809 0.00796797 -0.00776688 0.30938191] [-0.00797727 0.9999675 -0.00116716 -0.09262726] [ 0.00775732 0.00122905 0.99996916 -0.20481211] [ 0. 0. 0. 1. ]] SLAMing on 2.1558715600000005 meters Centerline goodness : 0.111158 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.21 [[ 9.99933328e-01 8.14683308e-03 -8.18342318e-03 3.13062083e-01] [-8.15521889e-03 9.99966254e-01 -9.91884658e-04 -9.36171593e-02] [ 8.17506630e-03 1.05855613e-03 9.99966023e-01 -2.06361014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1858715600000003 meters Centerline goodness : 0.073873 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:-0.21 [[ 9.99929935e-01 8.20332438e-03 -8.53405805e-03 3.16144062e-01] [-8.21211867e-03 9.99965784e-01 -9.95961914e-04 -9.31309643e-02] [ 8.52559585e-03 1.06597483e-03 9.99963088e-01 -2.07582292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2158715600000005 meters Centerline goodness : 0.096263 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:-0.21 [[ 9.99926257e-01 8.31707888e-03 -8.84906953e-03 3.18904650e-01] [-8.32490268e-03 9.99964988e-01 -8.47671180e-04 -9.42385389e-02] [ 8.84170956e-03 9.21276314e-04 9.99960487e-01 -2.08587941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2458715600000003 meters Centerline goodness : 0.140621 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.10, Z:-0.21 [[ 0.99998131 0.00550718 -0.00265347 0.36299115] [-0.00551725 0.99997754 -0.00380421 -0.09510111] [ 0.00263246 0.00381878 0.99998924 -0.21411904] [ 0. 0. 0. 1. ]] SLAMing on 2.27587156 meters Centerline goodness : 0.180147 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.22 [[ 0.99997964 0.0056051 -0.00305085 0.36602174] [-0.00561556 0.99997835 -0.0034297 -0.09788902] [ 0.00303156 0.00344676 0.99998946 -0.21506535] [ 0. 0. 0. 1. ]] SLAMing on 2.3058715600000004 meters Centerline goodness : 0.182745 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.22 [[ 0.99998118 0.00487883 -0.00371922 0.37448775] [-0.00489154 0.9999822 -0.00341636 -0.0991046 ] [ 0.00370249 0.00343449 0.99998725 -0.2182409 ] [ 0. 0. 0. 1. ]] SLAMing on 2.33587156 meters Centerline goodness : 0.172569 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.22 [[ 0.9999797 0.00490099 -0.00407281 0.37725603] [-0.00491381 0.99998298 -0.00314394 -0.10096402] [ 0.00405733 0.00316389 0.99998676 -0.21897132] [ 0. 0. 0. 1. ]] SLAMing on 2.3658715600000004 meters Centerline goodness : 0.166801 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.22 [[ 0.99997789 0.00492711 -0.00446655 0.38052558] [-0.00493988 0.99998373 -0.00285156 -0.10312112] [ 0.00445243 0.00287357 0.99998596 -0.22013786] [ 0. 0. 0. 1. ]] SLAMing on 2.3958715600000002 meters Centerline goodness : 0.158630 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:-0.22 [[ 0.99997575 0.00498176 -0.00486618 0.38362977] [-0.00499413 0.99998432 -0.00253365 -0.10553399] [ 0.00485349 0.00255789 0.99998495 -0.22109292] [ 0. 0. 0. 1. ]] SLAMing on 2.4258715600000005 meters Centerline goodness : 0.165153 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.11, Z:-0.22 [[ 0.99997368 0.00502446 -0.00523379 0.3865583 ] [-0.00503616 0.99998485 -0.00222381 -0.10832198] [ 0.00522253 0.00225011 0.99998383 -0.2220445 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4558715600000003 meters Centerline goodness : 0.161135 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.23 [[ 0.99997078 0.00415871 -0.00641384 0.39987219] [-0.00417336 0.99998871 -0.00227328 -0.11245126] [ 0.00640431 0.00229998 0.99997685 -0.22851512] [ 0. 0. 0. 1. ]] SLAMing on 2.4858715600000005 meters Centerline goodness : 0.173438 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.23 [[ 0.99996826 0.00426806 -0.0067277 0.40240329] [-0.00428147 0.99998887 -0.00197988 -0.11486864] [ 0.00671917 0.00200863 0.99997541 -0.22908118] [ 0. 0. 0. 1. ]] SLAMing on 2.5158715600000003 meters Centerline goodness : 0.162479 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.12, Z:-0.23 [[ 0.99996555 0.0043013 -0.00709864 0.40563558] [-0.00431478 0.99998892 -0.00188406 -0.11543675] [ 0.00709046 0.00191463 0.99997303 -0.23026755] [ 0. 0. 0. 1. ]] SLAMing on 2.54587156 meters Centerline goodness : 0.250223 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.24 [[ 0.99995226 0.00477977 -0.008522 0.42035715] [-0.00479387 0.99998717 -0.0016357 -0.11325859] [ 0.00851408 0.00167647 0.99996235 -0.23825648] [ 0. 0. 0. 1. ]] SLAMing on 2.5758715600000004 meters Centerline goodness : 0.348504 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.24 [[ 0.99994852 0.0048148 -0.00893124 0.42380227] [-0.00483012 0.9999869 -0.00169411 -0.11242133] [ 0.00892297 0.00173716 0.99995868 -0.23952466] [ 0. 0. 0. 1. ]] SLAMing on 2.60587156 meters Centerline goodness : 0.458772 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.24 [[ 0.99994433 0.00497721 -0.00930376 0.42692407] [-0.0049914 0.99998641 -0.00150297 -0.11417967] [ 0.00929615 0.00154933 0.99995559 -0.24053523] [ 0. 0. 0. 1. ]] SLAMing on 2.6358715600000004 meters Centerline goodness : 0.359079 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.11, Z:-0.25 [[ 0.99998835 0.00394099 -0.00278571 0.46939772] [-0.00394987 0.99998712 -0.00318831 -0.11454906] [ 0.00277311 0.00319928 0.99999104 -0.24535114] [ 0. 0. 0. 1. ]] SLAMing on 2.6658715600000003 meters SLAMing on 2.6958715600000005 meters Centerline goodness : 0.337670 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.25 [[ 0.99998083 0.00470824 -0.0040216 0.48286873] [-0.00471991 0.99998467 -0.00289585 -0.11307563] [ 0.0040079 0.00291477 0.99998772 -0.25214649] [ 0. 0. 0. 1. ]] SLAMing on 2.7258715600000003 meters SLAMing on 2.7558715600000006 meters SLAMing on 2.7858715600000004 meters SLAMing on 2.81587156 meters SLAMing on 2.8458715600000004 meters Centerline goodness : 0.205354 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.26 [[ 0.99997088 0.00550361 -0.00528671 0.50192477] [-0.0055163 0.99998193 -0.00239021 -0.11510688] [ 0.00527346 0.00241931 0.99998317 -0.25808805] [ 0. 0. 0. 1. ]] SLAMing on 2.87587156 meters Centerline goodness : 0.324511 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.26 [[ 0.99996747 0.00503541 -0.00630173 0.51351993] [-0.00505063 0.99998436 -0.00240143 -0.11855338] [ 0.00628954 0.00243318 0.99997726 -0.26382932] [ 0. 0. 0. 1. ]] SLAMing on 2.9058715600000005 meters Centerline goodness : 0.323752 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.26 [[ 0.99996519 0.00509794 -0.00660589 0.51603361] [-0.00511322 0.99998429 -0.0022988 -0.11921114] [ 0.00659407 0.0023325 0.99997554 -0.26446563] [ 0. 0. 0. 1. ]] SLAMing on 2.9358715600000003 meters Centerline goodness : 0.324960 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.27 [[ 0.99996275 0.0051428 -0.00693125 0.51880171] [-0.00515841 0.99998419 -0.00223706 -0.11939502] [ 0.00691964 0.00227273 0.99997348 -0.26531763] [ 0. 0. 0. 1. ]] SLAMing on 2.9658715600000005 meters Centerline goodness : 0.324186 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.27 [[ 0.99995991 0.00525854 -0.00724746 0.52131948] [-0.00527354 0.99998399 -0.00205313 -0.12079486] [ 0.00723654 0.00209127 0.99997163 -0.2659368 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9958715600000003 meters Centerline goodness : 0.319629 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.27 [[ 0.9999494 0.00534557 -0.00852189 0.53476886] [-0.00536091 0.99998405 -0.00177922 -0.12411383] [ 0.00851225 0.00182481 0.99996211 -0.27299613] [ 0. 0. 0. 1. ]] SLAMing on 3.0258715600000006 meters Centerline goodness : 0.322319 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.27 [[ 0.99994631 0.00543328 -0.00882311 0.53731685] [-0.00544832 0.99998374 -0.00168152 -0.12440018] [ 0.00881383 0.0017295 0.99995966 -0.27388749] [ 0. 0. 0. 1. ]] SLAMing on 3.0558715600000004 meters Centerline goodness : 0.319279 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.27 [[ 0.99994286 0.00551239 -0.00915928 0.53986926] [-0.00552728 0.99998344 -0.0016014 -0.1246191 ] [ 0.0091503 0.00165193 0.99995677 -0.27443942] [ 0. 0. 0. 1. ]] SLAMing on 3.08587156 meters Centerline goodness : 0.316527 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.28 [[ 0.99993916 0.00560575 -0.00950056 0.54260524] [-0.00561983 0.99998315 -0.00145592 -0.12525369] [ 0.00949224 0.00150923 0.99995381 -0.27520245] [ 0. 0. 0. 1. ]] SLAMing on 3.1158715600000004 meters Centerline goodness : 0.312996 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.28 [[ 0.99993297 0.00604261 -0.00987602 0.54741194] [-0.00605285 0.99998117 -0.00100756 -0.12827522] [ 0.00986975 0.00106727 0.99995072 -0.27606222] [ 0. 0. 0. 1. ]] SLAMing on 3.1458715600000002 meters Centerline goodness : 0.219399 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.28 [[ 9.99927968e-01 6.25897111e-03 -1.02412914e-02 5.50022875e-01] [-6.26626843e-03 9.99980135e-01 -6.80605314e-04 -1.30716825e-01] [ 1.02368281e-02 7.44730970e-04 9.99947325e-01 -2.76419220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1758715600000005 meters Centerline goodness : 0.050063 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.28 [[ 9.99922836e-01 6.48187728e-03 -1.05974966e-02 5.52649756e-01] [-6.48568831e-03 9.99978915e-01 -3.25288279e-04 -1.33465046e-01] [ 1.05951647e-02 3.93995238e-04 9.99943792e-01 -2.76884791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2058715600000003 meters Centerline goodness : 0.648588 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.28 [[ 9.99969094e-01 7.19734854e-03 -3.16384904e-03 5.90029659e-01] [-7.19575649e-03 9.99973978e-01 5.14296030e-04 -1.37558303e-01] [ 3.16746828e-03 -4.91513847e-04 9.99994863e-01 -2.79438760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2358715600000005 meters Centerline goodness : 0.227537 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.28 [[ 9.99967017e-01 7.33669894e-03 -3.48402943e-03 5.92341862e-01] [-7.33417133e-03 9.99972832e-01 7.37707038e-04 -1.38873420e-01] [ 3.48934711e-03 -7.12130238e-04 9.99993659e-01 -2.79948926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2658715600000003 meters Centerline goodness : 0.224152 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.28 [[ 9.99964556e-01 7.49101315e-03 -3.84328057e-03 5.94926528e-01] [-7.48714108e-03 9.99971450e-01 1.02089208e-03 -1.40709353e-01] [ 3.85081836e-03 -9.92080715e-04 9.99992093e-01 -2.80543321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2958715600000006 meters Centerline goodness : 0.222974 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.28 [[ 0.99996227 0.00763758 -0.00413717 0.59716397] [-0.00763248 0.99997009 0.00124737 -0.14217862] [ 0.00414657 -0.00121575 0.99999066 -0.28113732] [ 0. 0. 0. 1. ]] SLAMing on 3.3258715600000004 meters Centerline goodness : 0.216637 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.29 [[ 0.99994952 0.0084352 -0.00545865 0.61074554] [-0.00842625 0.99996312 0.00166138 -0.1426412 ] [ 0.00547247 -0.0016153 0.99998372 -0.2879442 ] [ 0. 0. 0. 1. ]] SLAMing on 3.35587156 meters Centerline goodness : 0.214960 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.29 [[ 0.99994661 0.00854899 -0.0058043 0.61326426] [-0.00853904 0.99996203 0.00173698 -0.142855 ] [ 0.00581893 -0.00168733 0.99998165 -0.2886474 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3858715600000004 meters Centerline goodness : 0.207722 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.30 [[ 0.99993254 0.00922402 -0.007059 0.62603133] [-0.00920896 0.99995526 0.00216291 -0.14547877] [ 0.00707863 -0.00209776 0.99997275 -0.29509038] [ 0. 0. 0. 1. ]] SLAMing on 3.4158715600000003 meters Centerline goodness : 0.202601 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.30 [[ 0.99992916 0.00931598 -0.00740857 0.62849844] [-0.00930001 0.99995436 0.00218745 -0.14547102] [ 0.00742861 -0.0021184 0.99997016 -0.29565786] [ 0. 0. 0. 1. ]] SLAMing on 3.4458715600000005 meters Centerline goodness : 0.198469 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.30 [[ 0.99992571 0.00938934 -0.00777269 0.63104476] [-0.00937368 0.99995397 0.002049 -0.14412607] [ 0.00779157 -0.00197599 0.99996769 -0.2962307 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4758715600000003 meters Centerline goodness : 0.196466 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.30 [[ 0.99992263 0.00941264 -0.00813272 0.63342019] [-0.00939785 0.99995412 0.00185499 -0.14233807] [ 0.0081498 -0.00177841 0.99996521 -0.29670079] [ 0. 0. 0. 1. ]] SLAMing on 3.5058715600000006 meters Centerline goodness : 0.111516 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.30 [[ 0.99991482 0.00961374 -0.00882767 0.63871145] [-0.00959812 0.9999523 0.00181054 -0.14160748] [ 0.00884466 -0.00172565 0.9999594 -0.2982737 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5358715600000004 meters Centerline goodness : 0.104491 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.30 [[ 0.99991121 0.00964352 -0.00919593 0.64113243] [-0.00962699 0.99995197 0.00184013 -0.14184559] [ 0.00921324 -0.00175144 0.99995602 -0.29870643] [ 0. 0. 0. 1. ]] SLAMing on 3.5658715600000006 meters Centerline goodness : 0.180302 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.30 [[ 0.99995 0.00991521 -0.00129824 0.67607485] [-0.00991266 0.99994896 0.00195419 -0.142012 ] [ 0.00131755 -0.00194123 0.99999725 -0.30025219] [ 0. 0. 0. 1. ]] SLAMing on 3.5958715600000004 meters Centerline goodness : 0.179184 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.30 [[ 0.99994993 0.00987681 -0.00160703 0.67797515] [-0.00987383 0.99994954 0.00185101 -0.14129987] [ 0.00162524 -0.00183505 0.999997 -0.3004413 ] [ 0. 0. 0. 1. ]] SLAMing on 3.62587156 meters Centerline goodness : 0.178075 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.30 [[ 0.99994985 0.00982577 -0.00193823 0.67991739] [-0.00982234 0.99995019 0.00177229 -0.14075492] [ 0.00195555 -0.00175316 0.99999655 -0.30042531] [ 0. 0. 0. 1. ]] SLAMing on 3.6558715600000005 meters Centerline goodness : 0.174347 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.30 [[ 0.99994985 0.00975247 -0.0022773 0.68179214] [-0.00974846 0.99995092 0.00176554 -0.14087082] [ 0.00229441 -0.00174325 0.99999585 -0.30030505] [ 0. 0. 0. 1. ]] SLAMing on 3.6858715600000003 meters Centerline goodness : 0.173755 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.30 [[ 0.99996801 0.00722977 -0.00342299 0.69135903] [-0.0072355 0.99997244 -0.00166526 -0.13844655] [ 0.00341085 0.00168997 0.99999276 -0.30440469] [ 0. 0. 0. 1. ]] SLAMing on 3.7158715600000005 meters Centerline goodness : 0.173104 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.30 [[ 0.99996705 0.00718085 -0.00378632 0.69340817] [-0.00718647 0.99997309 -0.00147266 -0.14007095] [ 0.00377564 0.00149982 0.99999175 -0.30465532] [ 0. 0. 0. 1. ]] SLAMing on 3.7458715600000003 meters Centerline goodness : 0.174300 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.30 [[ 0.99996598 0.00713581 -0.00413682 0.69543575] [-0.00714086 0.99997377 -0.00120742 -0.14222268] [ 0.00412809 0.00123692 0.99999071 -0.30495559] [ 0. 0. 0. 1. ]] SLAMing on 3.7758715600000006 meters Centerline goodness : 0.171415 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.30 [[ 9.99966266e-01 2.22900388e-03 -7.90564619e-03 7.19280757e-01] [-2.22806771e-03 9.99997510e-01 1.27223471e-04 -1.40741290e-01] [ 7.90591009e-03 -1.09604864e-04 9.99968742e-01 -3.01069509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8058715600000004 meters Centerline goodness : 0.169558 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.30 [[ 9.99963486e-01 2.17044348e-03 -8.26534265e-03 7.21088126e-01] [-2.16890053e-03 9.99997629e-01 1.95636100e-04 -1.41280454e-01] [ 8.26574767e-03 -1.77702250e-04 9.99965822e-01 -3.00859556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8358715600000006 meters Centerline goodness : 0.167323 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.32 [[ 9.99999038e-01 1.35816338e-03 -2.81366497e-04 7.30405568e-01] [-1.35825200e-03 9.99999028e-01 -3.14999250e-04 -1.40565201e-01] [ 2.80938403e-04 3.15381114e-04 9.99999911e-01 -3.20462785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8658715600000004 meters Centerline goodness : 0.166300 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.32 [[ 9.99998892e-01 1.36297444e-03 -5.98245362e-04 7.32083627e-01] [-1.36313056e-03 9.99999037e-01 -2.60641638e-04 -1.40905166e-01] [ 5.97889538e-04 2.61456836e-04 9.99999787e-01 -3.20493890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8958715600000002 meters Centerline goodness : 0.162252 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.32 [[ 9.99998335e-01 1.44805842e-03 -1.11086901e-03 7.35485576e-01] [-1.44851264e-03 9.99998868e-01 -4.08187250e-04 -1.39573105e-01] [ 1.11027668e-03 4.09795678e-04 9.99999300e-01 -3.21257661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9258715600000005 meters Centerline goodness : 0.163761 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.32 [[ 9.99997806e-01 1.48893509e-03 -1.47329445e-03 7.37600065e-01] [-1.48982678e-03 9.99998708e-01 -6.04321558e-04 -1.38037763e-01] [ 1.47239275e-03 6.06515186e-04 9.99998732e-01 -3.21698905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9558715600000003 meters Centerline goodness : 0.158183 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.32 [[ 9.99997183e-01 1.50427618e-03 -1.83626315e-03 7.39489650e-01] [-1.50602579e-03 9.99998413e-01 -9.51800778e-04 -1.35403921e-01] [ 1.83482846e-03 9.54563556e-04 9.99997861e-01 -3.21742556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9858715600000005 meters Centerline goodness : 0.161573 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.32 [[ 0.99999629 0.00163111 -0.00218012 0.74135376] [-0.00163409 0.99999773 -0.00136595 -0.13195297] [ 0.00217788 0.0013695 0.99999669 -0.32194187] [ 0. 0. 0. 1. ]] SLAMing on 4.01587156 meters Centerline goodness : 0.156900 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.32 [[ 0.9999793 0.00580231 -0.00278185 0.74508956] [-0.00579516 0.9999799 0.00257079 -0.13003904] [ 0.00279671 -0.00255462 0.99999283 -0.32228914] [ 0. 0. 0. 1. ]] SLAMing on 4.04587156 meters Centerline goodness : 0.157414 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.13, Z:-0.32 [[ 0.9999777 0.00590099 -0.00312585 0.74693876] [-0.00589438 0.99998038 0.00212069 -0.12660291] [ 0.0031383 -0.00210222 0.99999287 -0.32262984] [ 0. 0. 0. 1. ]] SLAMing on 4.07587156 meters Centerline goodness : 0.153841 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.33 [[ 0.99996385 0.00749947 -0.0040062 0.75507712] [-0.00748903 0.99996854 0.00261442 -0.12288805] [ 0.00402568 -0.00258432 0.99998856 -0.32684097] [ 0. 0. 0. 1. ]] SLAMing on 4.10587156 meters Centerline goodness : 0.152276 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.33 [[ 0.99996327 0.00740229 -0.00432019 0.75681556] [-0.00739321 0.99997043 0.00211433 -0.11957951] [ 0.00433571 -0.00208231 0.99998843 -0.32720546] [ 0. 0. 0. 1. ]] SLAMing on 4.13587156 meters Centerline goodness : 0.152621 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.33 [[ 0.99996281 0.00726922 -0.00464127 0.75862136] [-0.00726244 0.99997254 0.00147614 -0.11535643] [ 0.00465188 -0.00144238 0.99998814 -0.32767867] [ 0. 0. 0. 1. ]] SLAMing on 4.16587156 meters Centerline goodness : 0.150693 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.33 [[ 9.99962130e-01 7.15407227e-03 -4.95562055e-03 7.60297717e-01] [-7.15013271e-03 9.99974108e-01 8.12229535e-04 -1.10833504e-01] [ 4.96130299e-03 -7.76765431e-04 9.99987391e-01 -3.27966200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.19587156 meters Centerline goodness : 0.148718 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.11, Z:-0.33 [[ 9.99961690e-01 6.98506172e-03 -5.27514945e-03 7.61918393e-01] [-6.98433744e-03 9.99975597e-01 1.55708528e-04 -1.06387045e-01] [ 5.27610835e-03 -1.18859139e-04 9.99986074e-01 -3.28092959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22587156 meters Centerline goodness : 0.140822 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.33 [[ 9.99960115e-01 6.79772220e-03 -5.79299888e-03 7.64765758e-01] [-6.80138332e-03 9.99976683e-01 -6.12524232e-04 -1.01136927e-01] [ 5.78870004e-03 6.51900208e-04 9.99983033e-01 -3.28234898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.25587156 meters Centerline goodness : 0.135363 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 9.99959686e-01 6.63306501e-03 -6.05210136e-03 7.65998224e-01] [-6.63849212e-03 9.99977580e-01 -8.77083966e-04 -9.96665575e-02] [ 6.04614792e-03 9.17225434e-04 9.99981301e-01 -3.28288758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.28587156 meters Centerline goodness : 0.131191 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 0.99995892 0.0064607 -0.0063573 0.76739766] [-0.00646764 0.99997851 -0.00107173 -0.09875291] [ 0.00635024 0.0011128 0.99997922 -0.32823004] [ 0. 0. 0. 1. ]] SLAMing on 4.31587156 meters Centerline goodness : 0.124814 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 0.99995897 0.00590973 -0.00686607 0.77004921] [-0.00591909 0.99998158 -0.00134323 -0.09811431] [ 0.00685801 0.00138382 0.99997553 -0.32819731] [ 0. 0. 0. 1. ]] SLAMing on 4.34587156 meters Centerline goodness : 0.123314 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 0.9999576 0.00567467 -0.00725227 0.77197639] [-0.0056856 0.99998273 -0.00148801 -0.09759667] [ 0.0072437 0.00152918 0.99997259 -0.32841616] [ 0. 0. 0. 1. ]] SLAMing on 4.37587156 meters Centerline goodness : 0.120365 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:-0.33 [[ 0.99995673 0.00545325 -0.00753653 0.77323554] [-0.00546679 0.99998348 -0.00177737 -0.09607345] [ 0.00752672 0.00181849 0.99997002 -0.32845426] [ 0. 0. 0. 1. ]] SLAMing on 4.4058715600000005 meters Centerline goodness : 0.114448 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.33 [[ 0.99995475 0.00500714 -0.0080887 0.77619211] [-0.00502576 0.99998476 -0.00228424 -0.09360579] [ 0.00807714 0.00232478 0.99996468 -0.32892477] [ 0. 0. 0. 1. ]] SLAMing on 4.43587156 meters Centerline goodness : 0.114754 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.33 [[ 0.99995325 0.00489702 -0.0083377 0.77736532] [-0.00491691 0.99998511 -0.00236644 -0.09337299] [ 0.00832598 0.00240732 0.99996244 -0.3290544 ] [ 0. 0. 0. 1. ]] SLAMing on 4.46587156 meters Centerline goodness : 0.109171 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.33 [[ 9.99999445e-01 1.05361440e-03 -2.00588965e-05 7.93857935e-01] [-1.05354444e-03 9.99994273e-01 3.21613476e-03 -9.34428554e-02] [ 2.34473475e-05 -3.21611185e-03 9.99994828e-01 -3.34976975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.49587156 meters Centerline goodness : 0.108785 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:-0.33 [[ 9.99999581e-01 8.67093131e-04 -2.93914724e-04 7.94973455e-01] [-8.66225361e-04 9.99995304e-01 2.93983421e-03 -9.20877869e-02] [ 2.96462454e-04 -2.93957838e-03 9.99995635e-01 -3.34899921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52587156 meters Centerline goodness : 0.106435 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99999540e-01 7.31738363e-04 -6.20674270e-04 7.96350105e-01] [-7.29988538e-04 9.99995772e-01 2.81479076e-03 -9.15652618e-02] [ 6.22731337e-04 -2.81433638e-03 9.99995846e-01 -3.34872226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.55587156 meters Centerline goodness : 0.105063 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99999339e-01 6.42602126e-04 -9.52934585e-04 7.97602524e-01] [-6.39886273e-04 9.99995741e-01 2.84756078e-03 -9.21202984e-02] [ 9.54760375e-04 -2.84694913e-03 9.99995492e-01 -3.34638271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.58587156 meters Centerline goodness : 0.104681 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99999088e-01 5.14584382e-04 -1.24867768e-03 7.98854302e-01] [-5.11010445e-04 9.99995777e-01 2.86081031e-03 -9.25935190e-02] [ 1.25014453e-03 -2.86016961e-03 9.99995128e-01 -3.34548131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.61587156 meters Centerline goodness : 0.105916 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99998537e-01 2.12270266e-04 -1.69737126e-03 8.00776724e-01] [-2.08193619e-04 9.99997095e-01 2.40155740e-03 -9.02565598e-02] [ 1.69787611e-03 -2.40120051e-03 9.99995676e-01 -3.34152061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64587156 meters Centerline goodness : 0.106333 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99998044e-01 5.08488659e-05 -1.97734576e-03 8.01901918e-01] [-4.67729281e-05 9.99997874e-01 2.06130932e-03 -8.84565926e-02] [ 1.97744637e-03 -2.06121280e-03 9.99995921e-01 -3.34179411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.67587156 meters Centerline goodness : 0.104353 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99997231e-01 -8.76552883e-05 -2.35166002e-03 8.03448285e-01] [ 9.19630449e-05 9.99998318e-01 1.83174836e-03 -8.73203176e-02] [ 2.35149551e-03 -1.83195955e-03 9.99995557e-01 -3.34179581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.70587156 meters Centerline goodness : 0.105138 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99996529e-01 -1.38301204e-04 -2.63097492e-03 8.04534351e-01] [ 1.43151308e-04 9.99998291e-01 1.84336390e-03 -8.75989516e-02] [ 2.63071549e-03 -1.84373413e-03 9.99994840e-01 -3.34092102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73587156 meters Centerline goodness : 0.105138 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.33 [[ 9.99996529e-01 -1.38301204e-04 -2.63097492e-03 8.04534351e-01] [ 1.43151308e-04 9.99998291e-01 1.84336390e-03 -8.75989516e-02] [ 2.63071549e-03 -1.84373413e-03 9.99994840e-01 -3.34092102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76587156 meters Centerline goodness : 0.104497 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:-0.34 [[ 9.99992073e-01 -1.77837904e-03 -3.56246140e-03 8.11795226e-01] [ 1.77942581e-03 9.99998375e-01 2.90685483e-04 -8.64298661e-02] [ 3.56193866e-03 -2.97022314e-04 9.99993612e-01 -3.37761093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.79587156 meters Centerline goodness : 0.104986 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:-0.34 [[ 9.99990911e-01 -1.84376721e-03 -3.84432687e-03 8.12939708e-01] [ 1.84489431e-03 9.99998256e-01 2.89659830e-04 -8.65870293e-02] [ 3.84378611e-03 -2.96749574e-04 9.99992569e-01 -3.37831752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82587156 meters Centerline goodness : 0.106909 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:-0.34 [[ 9.99989673e-01 -1.95299862e-03 -4.10354738e-03 8.13982494e-01] [ 1.95386672e-03 9.99998070e-01 2.07551448e-04 -8.62890488e-02] [ 4.10313411e-03 -2.15567090e-04 9.99991559e-01 -3.37871996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.85587156 meters Centerline goodness : 0.107297 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.09, Z:-0.34 [[ 9.99987015e-01 -2.11614095e-03 -4.63587515e-03 8.16205937e-01] [ 2.11627672e-03 9.99997760e-01 2.43808274e-05 -8.53216977e-02] [ 4.63581318e-03 -3.41913055e-05 9.99989254e-01 -3.37678010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.88587156 meters Centerline goodness : 0.101592 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.34 [[ 9.99985504e-01 -2.16451375e-03 -4.93021412e-03 8.17079833e-01] [ 2.16412973e-03 9.99997655e-01 -8.32251388e-05 -8.47280515e-02] [ 4.93038270e-03 7.25543094e-05 9.99987843e-01 -3.37249547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.91587156 meters Centerline goodness : 0.099921 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.34 [[ 9.99983802e-01 -2.15789981e-03 -5.26685786e-03 8.18128960e-01] [ 2.15709263e-03 9.99997661e-01 -1.58932824e-04 -8.42038783e-02] [ 5.26718850e-03 1.47569150e-04 9.99986117e-01 -3.36744799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9458715600000005 meters Centerline goodness : 0.099977 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.34 [[ 9.99982418e-01 -2.09912596e-03 -5.54591364e-03 8.19000333e-01] [ 2.09825028e-03 9.99997785e-01 -1.63710267e-04 -8.40746917e-02] [ 5.54624500e-03 1.52070673e-04 9.99984608e-01 -3.36395848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.97587156 meters Centerline goodness : 0.099428 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.34 [[ 9.99980857e-01 -1.67850331e-03 -5.95549737e-03 8.20788653e-01] [ 1.67632569e-03 9.99998526e-01 -3.70621935e-04 -8.17412942e-02] [ 5.95611069e-03 3.60631487e-04 9.99982197e-01 -3.36308398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00587156 meters Centerline goodness : 0.098637 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:-0.34 [[ 9.99976860e-01 -6.45388630e-05 -6.80254822e-03 8.27332787e-01] [ 7.17234877e-05 9.99999440e-01 1.05592801e-03 -8.08068013e-02] [ 6.80247627e-03 -1.05639148e-03 9.99976305e-01 -3.40044191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.03587156 meters Centerline goodness : 0.097549 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:-0.34 [[ 9.99974361e-01 7.51357638e-04 -7.12132885e-03 8.29014491e-01] [-7.49073316e-04 9.99999667e-01 3.23433579e-04 -7.35268384e-02] [ 7.12156949e-03 -3.18090889e-04 9.99974591e-01 -3.39929179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06587156 meters Centerline goodness : 0.097453 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.34 [[ 9.99993298e-01 1.81715245e-03 -3.17827478e-03 7.82342953e-01] [-1.81628961e-03 9.99998313e-01 2.74347075e-04 -6.99032233e-02] [ 3.17876795e-03 -2.68572569e-04 9.99994912e-01 -3.41158874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.09587156 meters Centerline goodness : 0.097719 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.07, Z:-0.34 [[ 9.99992669e-01 1.68674482e-03 -3.43748918e-03 7.83136513e-01] [-1.68831089e-03 9.99998472e-01 -4.52733695e-04 -6.56995687e-02] [ 3.43672028e-03 4.58533927e-04 9.99993989e-01 -3.41015737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.12587156 meters Centerline goodness : 0.097920 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.34 [[ 9.99992169e-01 1.54543748e-03 -3.64331202e-03 7.83707517e-01] [-1.54901852e-03 9.99998320e-01 -9.80293115e-04 -6.28292003e-02] [ 3.64179091e-03 9.85928996e-04 9.99992883e-01 -3.40778828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1558715600000005 meters Centerline goodness : 0.096645 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.06, Z:-0.34 [[ 0.99999143 0.0013187 -0.00392423 0.78471153] [-0.00132498 0.99999785 -0.00159685 -0.05953976] [ 0.00392212 0.00160204 0.99999103 -0.34048305] [ 0. 0. 0. 1. ]] SLAMing on 5.18587156 meters Centerline goodness : 0.096917 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.06, Z:-0.34 [[ 0.99999108 0.00112587 -0.00407018 0.78523022] [-0.0011341 0.99999732 -0.00202054 -0.05740357] [ 0.00406789 0.00202514 0.99998968 -0.3405319 ] [ 0. 0. 0. 1. ]] SLAMing on 5.21587156 meters Centerline goodness : 0.073382 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.06, Z:-0.34 [[ 9.99990746e-01 9.14006426e-04 -4.20384416e-03 7.85669628e-01] [-9.24504976e-04 9.99996457e-01 -2.49610416e-03 -5.50450323e-02] [ 4.20154781e-03 2.49996753e-03 9.99988049e-01 -3.40535561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.24587156 meters Centerline goodness : 0.071564 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.05, Z:-0.34 [[ 9.99990141e-01 6.73381829e-04 -4.38902331e-03 7.86274079e-01] [-6.86595821e-04 9.99995235e-01 -3.00987952e-03 -5.24781231e-02] [ 4.38697559e-03 3.01286333e-03 9.99985838e-01 -3.40582908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.27587156 meters Centerline goodness : 0.071975 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.05, Z:-0.34 [[ 9.99989599e-01 4.59018333e-04 -4.53764785e-03 7.86822693e-01] [-4.75004341e-04 9.99993683e-01 -3.52252253e-03 -4.98774384e-02] [ 4.53600228e-03 3.52464129e-03 9.99983501e-01 -3.40748391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.30587156 meters Centerline goodness : 0.071367 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 9.99988665e-01 -1.51088499e-05 -4.76115999e-03 7.87689186e-01] [-6.95418946e-06 9.99989263e-01 -4.63391240e-03 -4.42603960e-02] [ 4.76117888e-03 4.63389299e-03 9.99977929e-01 -3.40981058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.33587156 meters Centerline goodness : 0.072198 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 9.99988015e-01 -2.72343497e-04 -4.88839902e-03 7.87917224e-01] [ 2.47186405e-04 9.99986728e-01 -5.14615119e-03 -4.17569746e-02] [ 4.88973566e-03 5.14488117e-03 9.99974810e-01 -3.40632518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36587156 meters Centerline goodness : 0.072826 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 9.99987175e-01 -4.66129885e-04 -5.04306235e-03 7.88305068e-01] [ 4.38874723e-04 9.99985301e-01 -5.40424394e-03 -4.07078290e-02] [ 5.04550730e-03 5.40196136e-03 9.99972680e-01 -3.40445052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.39587156 meters Centerline goodness : 0.089679 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 0.99998646 -0.00117385 -0.0050705 0.78818044] [ 0.00114478 0.99998292 -0.00573228 -0.0405766 ] [ 0.00507714 0.00572639 0.99997072 -0.33967604] [ 0. 0. 0. 1. ]] SLAMing on 5.42587156 meters Centerline goodness : 0.757445 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 0.99998548 -0.00147327 -0.00518349 0.78829986] [ 0.00144218 0.99998098 -0.00599627 -0.03969432] [ 0.00519223 0.00598871 0.99996859 -0.33914282] [ 0. 0. 0. 1. ]] SLAMing on 5.45587156 meters Centerline goodness : 0.756552 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.34 [[ 0.99998439 -0.00174624 -0.00530756 0.78846099] [ 0.0017128 0.9999787 -0.00629831 -0.03846934] [ 0.00531845 0.00628912 0.99996608 -0.33865512] [ 0. 0. 0. 1. ]] SLAMing on 5.4858715600000005 meters Centerline goodness : 0.071743 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99981060e-01 -6.07275839e-03 -1.00068612e-03 8.09198194e-01] [ 6.07284422e-03 9.99981557e-01 8.27562636e-05 -3.87421589e-02] [ 1.00016510e-03 -8.88317072e-05 9.99999496e-01 -3.42133234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.51587156 meters Centerline goodness : 0.089547 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99979851e-01 -6.24040013e-03 -1.16391293e-03 8.09688701e-01] [ 6.24050922e-03 9.99980524e-01 9.01204701e-05 -3.91428156e-02] [ 1.16332787e-03 -9.73820636e-05 9.99999319e-01 -3.42085509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54587156 meters Centerline goodness : 0.892534 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99979118e-01 -6.33845121e-03 -1.26014319e-03 8.10072262e-01] [ 6.33870951e-03 9.99979890e-01 2.01092846e-04 -4.00172250e-02] [ 1.25884323e-03 -2.09076328e-04 9.99999186e-01 -3.42261019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.57587156 meters Centerline goodness : 0.917078 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99978233e-01 -6.45415439e-03 -1.37033682e-03 8.10620620e-01] [ 6.45458552e-03 9.99979121e-01 3.10423837e-04 -4.08890463e-02] [ 1.36830469e-03 -3.19262036e-04 9.99999013e-01 -3.42695890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60587156 meters Centerline goodness : 0.988761 Centerline is valid? [False, True] Translation: X:0.81, Y:-0.04, Z:-0.34 [[ 9.99975372e-01 -6.86479793e-03 -1.45938346e-03 8.11180627e-01] [ 6.86514542e-03 9.99976407e-01 2.33232195e-04 -4.14120146e-02] [ 1.45774793e-03 -2.43245331e-04 9.99998908e-01 -3.43302710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63587156 meters Centerline goodness : 0.959994 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.03, Z:-0.34 [[ 0.99975578 -0.00770423 -0.02071291 0.84977558] [ 0.00729357 0.99977678 -0.01982922 -0.02869719] [ 0.02086106 0.0196733 0.9995888 -0.34248562] [ 0. 0. 0. 1. ]] SLAMing on 5.66587156 meters Centerline goodness : 0.975115 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.06, Z:-0.35 [[ 0.99988906 -0.01368449 -0.00588236 0.87420922] [ 0.01387789 0.99931864 0.03420017 -0.05884907] [ 0.00541034 -0.03427801 0.99939769 -0.35207435] [ 0. 0. 0. 1. ]] SLAMing on 5.6958715600000005 meters Centerline goodness : 0.975574 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.03, Z:-0.34 [[ 0.9998708 -0.00793983 -0.01397625 0.90815618] [ 0.00762682 0.99972205 -0.02230804 -0.02721398] [ 0.01414949 0.02219857 0.99965345 -0.3404773 ] [ 0. 0. 0. 1. ]] SLAMing on 5.72587156 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.09, Z:-0.36 [[ 0.99930027 -0.01912316 0.03214466 0.9220958 ] [ 0.01630259 0.99617671 0.08582649 -0.08905181] [-0.03366303 -0.0852424 0.99579141 -0.36299662] [ 0. 0. 0. 1. ]] SLAMing on 5.75587156 meters Centerline goodness : 0.990182 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.13, Z:-0.38 [[ 0.9983089 -0.02600864 0.05198938 0.91803483] [ 0.01792911 0.98848825 0.15023158 -0.13329761] [-0.05529821 -0.1490454 0.98728293 -0.38260793] [ 0. 0. 0. 1. ]] SLAMing on 5.78587156 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:0.97, Y:0.03, Z:-0.34 [[ 0.99962503 0.00866639 0.02597481 0.97331444] [-0.00469034 0.98876674 -0.14939322 0.03274123] [-0.02697772 0.14921537 0.98843663 -0.33738502] [ 0. 0. 0. 1. ]] SLAMing on 5.81587156 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.05, Z:-0.36 [[ 0.99937626 -0.01171963 0.0333129 1.01602093] [ 0.01149924 0.99991076 0.00679962 -0.05383287] [-0.03338962 -0.00641231 0.99942184 -0.36143974] [ 0. 0. 0. 1. ]] SLAMing on 5.84587156 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.03, Z:-0.35 [[ 0.99968828 -0.0077275 0.02374091 1.05710369] [ 0.00862812 0.99923782 -0.03807011 -0.03177728] [-0.02342863 0.03826308 0.99899301 -0.34881969] [ 0. 0. 0. 1. ]] SLAMing on 5.87587156 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.07, Z:-0.36 [[ 0.99940817 -0.0153362 0.03079149 1.08543354] [ 0.01445745 0.99948749 0.02856116 -0.07182248] [-0.03121373 -0.0280991 0.99911768 -0.36316346] [ 0. 0. 0. 1. ]] SLAMing on 5.9058715600000005 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.09, Z:-0.37 [[ 0.99902649 -0.0171231 0.04065553 1.10974209] [ 0.01515584 0.99872208 0.04821319 -0.08831199] [-0.04142914 -0.04755008 0.99800933 -0.3714774 ] [ 0. 0. 0. 1. ]] SLAMing on 5.93587156 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.06, Z:-0.37 [[ 0.99917756 -0.00996827 0.03930439 1.13878969] [ 0.01003377 0.99994858 -0.00146943 -0.06322763] [-0.03928772 0.0018626 0.9992262 -0.36704198] [ 0. 0. 0. 1. ]] SLAMing on 5.96587156 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.04, Z:-0.36 [[ 0.999358 -0.00909171 0.03465447 1.192274 ] [ 0.01085078 0.99864404 -0.05091496 -0.03631981] [-0.03414458 0.0512583 0.99810157 -0.35806598] [ 0. 0. 0. 1. ]] SLAMing on 5.99587156 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.12, Z:-0.38 [[ 0.9986479 -0.01717193 0.0490663 1.20097376] [ 0.01291455 0.99622834 0.08580395 -0.12240705] [-0.05035465 -0.08505427 0.9951031 -0.37974266] [ 0. 0. 0. 1. ]] SLAMing on 6.025871560000001 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.08, Z:-0.38 [[ 0.99874134 -0.00756618 0.04958316 1.2308679 ] [ 0.00695389 0.99989757 0.01250952 -0.08463559] [-0.04967273 -0.01214898 0.99869166 -0.37809774] [ 0. 0. 0. 1. ]] SLAMing on 6.05587156 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.05, Z:-0.37 [[ 9.99199153e-01 -8.99910444e-05 4.00130614e-02 1.26787178e+00] [ 1.99839345e-03 9.98861758e-01 -4.76570491e-02 -5.42795291e-02] [-3.99632282e-02 4.76988449e-02 9.98062002e-01 -3.74827440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08587156 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.19, Z:-0.41 [[ 0.99415369 -0.0342969 0.10238239 1.31412831] [ 0.01408824 0.98130806 0.1919271 -0.19255475] [-0.10705117 -0.18936265 0.97605422 -0.40595102] [ 0. 0. 0. 1. ]] SLAMing on 6.11587156 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:1.35, Y:0.03, Z:-0.35 [[ 0.99947593 0.01723493 0.02740107 1.35446891] [-0.0108704 0.97602226 -0.21739915 0.02982776] [-0.03049092 0.21698736 0.9756981 -0.34602878] [ 0. 0. 0. 1. ]] SLAMing on 6.14587156 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.22, Z:-0.41 [[ 0.99398008 -0.03572151 0.10357396 1.39678376] [ 0.01084087 0.97278301 0.23146422 -0.22014459] [-0.10902324 -0.22894799 0.96731419 -0.40757555] [ 0. 0. 0. 1. ]] SLAMing on 6.17587156 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.06, Z:-0.40 [[ 0.99660101 0.00227257 0.08234847 1.43124259] [ 0.00192689 0.99870287 -0.05088081 -0.06160998] [-0.08235729 0.05086654 0.99530391 -0.40361434] [ 0. 0. 0. 1. ]] SLAMing on 6.20587156 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.12, Z:-0.42 [[ 9.94937344e-01 -4.92682885e-03 1.00376336e-01 1.46170481e+00] [ 9.66073118e-04 9.99220308e-01 3.94695143e-02 -1.16381924e-01] [-1.00492533e-01 -3.91727228e-02 9.94166359e-01 -4.22665229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2358715600000005 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.05, Z:-0.40 [[ 0.99777772 0.01192755 0.06555418 1.50127579] [-0.00597031 0.99589397 -0.0903303 -0.04540199] [-0.06636243 0.08973818 0.99375202 -0.39658469] [ 0. 0. 0. 1. ]] SLAMing on 6.26587156 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.14, Z:-0.42 [[ 0.99501022 -0.00602517 0.09959094 1.52992136] [-0.00229929 0.99652511 0.08326113 -0.14335866] [-0.09974653 -0.08307466 0.99153882 -0.422804 ] [ 0. 0. 0. 1. ]] SLAMing on 6.29587156 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.11, Z:-0.43 [[ 0.99464572 0.00810557 0.1030252 1.56312029] [-0.00940241 0.99988249 0.01210822 -0.10591851] [-0.10291495 -0.01301207 0.99460505 -0.42963118] [ 0. 0. 0. 1. ]] SLAMing on 6.32587156 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.11, Z:-0.44 [[ 0.99365779 0.00935878 0.11205631 1.59491393] [-0.01122563 0.99980832 0.01604057 -0.1084837 ] [-0.11188472 -0.01719674 0.99357238 -0.44110507] [ 0. 0. 0. 1. ]] SLAMing on 6.35587156 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.08, Z:-0.43 [[ 0.99473392 0.01816423 0.10086868 1.62725334] [-0.01491315 0.99934764 -0.03289199 -0.08141499] [-0.10140034 0.03121451 0.99435589 -0.43289634] [ 0. 0. 0. 1. ]] SLAMing on 6.38587156 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.10, Z:-0.44 [[ 0.99475292 0.01597407 0.10105173 1.66101358] [-0.0162589 0.99986582 0.00199567 -0.10128209] [-0.10100629 -0.00362819 0.99487917 -0.43824302] [ 0. 0. 0. 1. ]] SLAMing on 6.41587156 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.08, Z:-0.44 [[ 0.99558627 0.02225153 0.09117483 1.6875714 ] [-0.01847513 0.99894442 -0.04205603 -0.07755523] [-0.0920144 0.04018594 0.99494645 -0.43717812] [ 0. 0. 0. 1. ]] SLAMing on 6.4458715600000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.12, Z:-0.44 [[ 0.99509291 0.01281462 0.09811161 1.72647686] [-0.01595616 0.99938258 0.0313026 -0.12033198] [-0.09764991 -0.03271448 0.99468299 -0.4435137 ] [ 0. 0. 0. 1. ]] SLAMing on 6.47587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.11, Z:-0.45 [[ 0.99502841 0.01534812 0.09840174 1.75780792] [-0.01585998 0.99986445 0.00442164 -0.10663835] [-0.09832053 -0.00596031 0.99513695 -0.44559517] [ 0. 0. 0. 1. ]] SLAMing on 6.50587156 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.10, Z:-0.46 [[ 0.99458369 0.01580997 0.10272937 1.78907725] [-0.01443509 0.9997962 -0.01411327 -0.09504552] [-0.10293157 0.01255392 0.99460922 -0.4559968 ] [ 0. 0. 0. 1. ]] SLAMing on 6.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.11, Z:-0.45 [[ 0.99490221 0.01287564 0.10001903 1.82177229] [-0.01375314 0.9998727 0.00808868 -0.10800479] [-0.09990215 -0.00942302 0.99495265 -0.45385987] [ 0. 0. 0. 1. ]] SLAMing on 6.565871560000001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.10, Z:-0.46 [[ 0.99444575 0.01420975 0.10428683 1.8520285 ] [-0.01383534 0.99989499 -0.00431276 -0.10274461] [-0.10433716 0.00284596 0.99453791 -0.45901931] [ 0. 0. 0. 1. ]] SLAMing on 6.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.11, Z:-0.46 [[ 9.94721160e-01 1.25121829e-02 1.01849201e-01 1.88428774e+00] [-1.24204374e-02 9.99921685e-01 -1.53492763e-03 -1.07227219e-01] [-1.01860430e-01 2.61813373e-04 9.94798665e-01 -4.62794193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.11, Z:-0.47 [[ 9.94824672e-01 1.20003793e-02 1.00895308e-01 1.91597709e+00] [-1.19057524e-02 9.99927938e-01 -1.53999536e-03 -1.07779551e-01] [-1.00906518e-01 3.30790818e-04 9.94895856e-01 -4.66448709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6558715600000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.11, Z:-0.47 [[ 9.94823686e-01 1.20843494e-02 1.00895005e-01 1.94925531e+00] [-1.19881678e-02 9.99926923e-01 -1.55957116e-03 -1.08424659e-01] [-1.00906479e-01 3.41952070e-04 9.94895857e-01 -4.70330081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.11, Z:-0.47 [[ 9.94896808e-01 1.15015761e-02 1.00239991e-01 1.98101163e+00] [-1.14030105e-02 9.99933773e-01 -1.55622136e-03 -1.09643920e-01] [-1.00251251e-01 4.05241987e-04 9.94962071e-01 -4.74635611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.11, Z:-0.48 [[ 9.94939188e-01 1.08278860e-02 9.98937845e-02 2.01398169e+00] [-1.07248725e-02 9.99941257e-01 -1.56820564e-03 -1.11758600e-01] [-9.99048968e-02 4.88921141e-04 9.94996871e-01 -4.79006315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.11, Z:-0.48 [[ 9.94912569e-01 1.00855137e-02 1.00236031e-01 2.04517663e+00] [-9.97613858e-03 9.99948969e-01 -1.59237497e-03 -1.14855570e-01] [-1.00246976e-01 5.84305333e-04 9.94962413e-01 -4.83317031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.12, Z:-0.49 [[ 9.94975430e-01 8.14555325e-03 9.97874889e-02 2.07695001e+00] [-8.02570774e-03 9.99966510e-01 -1.60238968e-03 -1.19538704e-01] [-9.97971994e-02 7.93473134e-04 9.95007482e-01 -4.86647879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.12, Z:-0.49 [[ 9.95017348e-01 7.35594660e-03 9.94302153e-02 2.10940109e+00] [-7.23135997e-03 9.99972552e-01 -1.61335339e-03 -1.21927963e-01] [-9.94393538e-02 8.86298930e-04 9.95043230e-01 -4.90242823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.12, Z:-0.49 [[ 9.94994550e-01 6.93373633e-03 9.96883596e-02 2.14237848e+00] [-6.80452209e-03 9.99975510e-01 -1.63614017e-03 -1.24642651e-01] [-9.96972629e-02 9.49618906e-04 9.95017364e-01 -4.94121716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86587156 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.13, Z:-0.50 [[ 9.94630487e-01 6.79552644e-03 1.03266716e-01 2.17481654e+00] [-6.65389135e-03 9.99976390e-01 -1.71597206e-03 -1.29571620e-01] [-1.03275939e-01 1.01963262e-03 9.94652221e-01 -4.97552124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89587156 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.13, Z:-0.50 [[ 9.94834448e-01 6.96734147e-03 1.01271308e-01 2.20712862e+00] [-6.83002846e-03 9.99975226e-01 -1.70256775e-03 -1.31901713e-01] [-1.01280661e-01 1.00208713e-03 9.94857389e-01 -4.99797243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.13, Z:-0.50 [[ 9.94524825e-01 7.46923244e-03 1.04233311e-01 2.24005274e+00] [-7.32441894e-03 9.99971606e-01 -1.77202370e-03 -1.33680708e-01] [-1.04243587e-01 9.98873128e-04 9.94551294e-01 -5.03990958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.14, Z:-0.51 [[ 9.94530612e-01 8.74367040e-03 1.04078861e-01 2.27300042e+00] [-8.60411044e-03 9.99961382e-01 -1.78981117e-03 -1.38601083e-01] [-1.04090491e-01 8.84515981e-04 9.94567437e-01 -5.06626714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9858715600000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.14, Z:-0.51 [[ 9.94461414e-01 9.70330735e-03 1.04653440e-01 2.30514581e+00] [-9.56530220e-03 9.99952594e-01 -1.82051740e-03 -1.41530277e-01] [-1.04666144e-01 8.09392527e-04 9.94507086e-01 -5.10103321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.01587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.14, Z:-0.51 [[ 9.94430535e-01 1.09185709e-02 1.04826982e-01 2.33825069e+00] [-1.07848301e-02 9.99940144e-01 -1.84258929e-03 -1.43721984e-01] [-1.04840826e-01 7.01785869e-04 9.94488768e-01 -5.13387778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.15, Z:-0.52 [[ 9.94389973e-01 1.19896755e-02 1.05094381e-01 2.37005445e+00] [-1.18590425e-02 9.99927935e-01 -1.86783110e-03 -1.45861521e-01] [-1.05109202e-01 6.11033791e-04 9.94460498e-01 -5.17711501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.15, Z:-0.52 [[ 9.94353705e-01 1.28376168e-02 1.05337103e-01 2.40280057e+00] [-1.27091124e-02 9.99917448e-01 -1.89110935e-03 -1.48431300e-01] [-1.05352685e-01 5.41690501e-04 9.94434773e-01 -5.21760307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.14, Z:-0.52 [[ 0.99519271 0.01554984 0.0966937 2.43695884] [-0.01337342 0.99964334 -0.02311588 -0.1413568 ] [-0.09701867 0.02171163 0.99504572 -0.52318411] [ 0. 0. 0. 1. ]] SLAMing on 7.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.15, Z:-0.53 [[ 0.99543698 0.01359743 0.09444748 2.46788951] [-0.01302176 0.99989271 -0.00670888 -0.1540238 ] [-0.09452857 0.00544839 0.99550724 -0.5258232 ] [ 0. 0. 0. 1. ]] SLAMing on 7.16587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.18, Z:-0.53 [[ 0.99464031 0.00898997 0.10300408 2.49589227] [-0.01162406 0.99961984 0.02500104 -0.17940593] [-0.10274016 -0.02606437 0.99436669 -0.5333486 ] [ 0. 0. 0. 1. ]] SLAMing on 7.1958715600000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.17, Z:-0.54 [[ 9.94698377e-01 1.16423742e-02 1.02174336e-01 2.52761235e+00] [-1.15105852e-02 9.99931985e-01 -1.87935597e-03 -1.68514572e-01] [-1.02189266e-01 6.93305932e-04 9.94764733e-01 -5.37792196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.17, Z:-0.54 [[ 9.94669264e-01 1.14729833e-02 1.02476466e-01 2.56007181e+00] [-1.13376538e-02 9.99933916e-01 -1.90296735e-03 -1.72205929e-01] [-1.02491527e-01 7.30980434e-04 9.94733609e-01 -5.41721042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.17, Z:-0.54 [[ 0.99521613 0.01232829 0.0969168 2.59406394] [-0.01126216 0.99986999 -0.0115399 -0.17011384] [-0.09704646 0.0103932 0.99522559 -0.54307262] [ 0. 0. 0. 1. ]] SLAMing on 7.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.19, Z:-0.55 [[ 0.99473486 0.01202784 0.10177374 2.62409215] [-0.0128121 0.99989303 0.00705576 -0.18632768] [-0.10167799 -0.00832255 0.99478255 -0.54861647] [ 0. 0. 0. 1. ]] SLAMing on 7.315871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.18, Z:-0.55 [[ 9.94745617e-01 1.48878863e-02 1.01289235e-01 2.65595690e+00] [-1.47708883e-02 9.99889090e-01 -1.90502659e-03 -1.84027692e-01] [-1.01306363e-01 3.98884877e-04 9.94855196e-01 -5.52761346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.18, Z:-0.56 [[ 0.9950949 0.01820302 0.09723573 2.6904999 ] [-0.01720737 0.99979068 -0.01106834 -0.18127939] [-0.09741686 0.00934088 0.99519983 -0.55539556] [ 0. 0. 0. 1. ]] SLAMing on 7.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.19, Z:-0.56 [[ 0.9945789 0.01946311 0.10214693 2.71963404] [-0.02028828 0.99976935 0.00704549 -0.19347606] [-0.10198624 -0.00907968 0.99474437 -0.56062344] [ 0. 0. 0. 1. ]] SLAMing on 7.4058715600000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.19, Z:-0.56 [[ 9.94436289e-01 2.73670014e-02 1.01722732e-01 2.75163604e+00] [-2.73096666e-02 9.99625107e-01 -1.95647718e-03 -1.90690862e-01] [-1.01738139e-01 -8.32421976e-04 9.94810865e-01 -5.64090452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.19, Z:-0.57 [[ 9.94476193e-01 3.10392115e-02 1.00267985e-01 2.78363443e+00] [-3.10003111e-02 9.99517480e-01 -1.94641456e-03 -1.91049582e-01] [-1.00280019e-01 -1.17267579e-03 9.94958563e-01 -5.67454992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.19, Z:-0.57 [[ 9.94236220e-01 3.44284834e-02 1.01533338e-01 2.81662615e+00] [-3.44043619e-02 9.99406015e-01 -1.98920557e-03 -1.91396051e-01] [-1.01541514e-01 -1.51544946e-03 9.94830149e-01 -5.71910644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.19, Z:-0.58 [[ 9.93804824e-01 3.98655973e-02 1.03743458e-01 2.84894374e+00] [-3.98677755e-02 9.99202854e-01 -2.05344063e-03 -1.92249353e-01] [-1.03742621e-01 -2.09530167e-03 9.94601970e-01 -5.76221512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525871560000001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.19, Z:-0.58 [[ 9.93527136e-01 4.23389292e-02 1.05409895e-01 2.88181119e+00] [-4.23527596e-02 9.99100495e-01 -2.10823916e-03 -1.92218795e-01] [-1.05404338e-01 -2.36980711e-03 9.94426623e-01 -5.78900599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.19, Z:-0.58 [[ 9.93523606e-01 4.37170035e-02 1.04879300e-01 2.91399419e+00] [-4.37360132e-02 9.99040874e-01 -2.11969195e-03 -1.91835291e-01] [-1.04871374e-01 -2.48103844e-03 9.94482699e-01 -5.82511568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.19, Z:-0.59 [[ 9.93456486e-01 4.38087775e-02 1.05475124e-01 2.94670141e+00] [-4.38271687e-02 9.99036826e-01 -2.14455291e-03 -1.91163757e-01] [-1.05467483e-01 -2.49215607e-03 9.94419629e-01 -5.85777823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.19, Z:-0.59 [[ 9.93177351e-01 4.24445253e-02 1.08614973e-01 2.97946283e+00] [-4.24535528e-02 9.99095952e-01 -2.23032181e-03 -1.91646858e-01] [-1.08611445e-01 -2.39598639e-03 9.94081392e-01 -5.90773901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.19, Z:-0.59 [[ 9.93281679e-01 4.05341806e-02 1.08390432e-01 3.01117539e+00] [-4.05293583e-02 9.99175818e-01 -2.24839041e-03 -1.92633398e-01] [-1.08392236e-01 -2.15970966e-03 9.94105859e-01 -5.94299940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.19, Z:-0.60 [[ 9.93646835e-01 3.55337788e-02 1.06786318e-01 3.04310763e+00] [-3.54988991e-02 9.99367232e-01 -2.22805173e-03 -1.94762294e-01] [-1.06797918e-01 -1.57690017e-03 9.94279497e-01 -5.97720888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.20, Z:-0.60 [[ 9.93657912e-01 3.27535289e-02 1.07569326e-01 3.07439414e+00] [-3.26997032e-02 9.99462656e-01 -2.26468037e-03 -1.96068259e-01] [-1.07585701e-01 -1.26716749e-03 9.94195007e-01 -6.02261693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7358715600000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.20, Z:-0.61 [[ 9.93977394e-01 2.69328818e-02 1.06224101e-01 3.10701362e+00] [-2.68451919e-02 9.99637058e-01 -2.25554164e-03 -1.97881888e-01] [-1.06246296e-01 -6.09648961e-04 9.94339657e-01 -6.07323835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.20, Z:-0.61 [[ 9.94051005e-01 2.42533034e-02 1.06180867e-01 3.13978879e+00] [-2.41482178e-02 9.99705800e-01 -2.27543751e-03 -1.99256872e-01] [-1.06204815e-01 -3.02177754e-04 9.94344229e-01 -6.12527215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.20, Z:-0.62 [[ 9.94202250e-01 2.16502474e-02 1.05324038e-01 3.17278409e+00] [-2.15299962e-02 9.99765606e-01 -2.27870104e-03 -2.01013067e-01] [-1.05348685e-01 -2.13643325e-06 9.94435345e-01 -6.16786306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.20, Z:-0.62 [[ 9.94363090e-01 1.91861511e-02 1.04278170e-01 3.20473299e+00] [-1.90524532e-02 9.99815890e-01 -2.27816122e-03 -2.03340264e-01] [-1.04302681e-01 2.78564467e-04 9.94545561e-01 -6.20837811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.21, Z:-0.63 [[ 9.94439757e-01 1.54463813e-02 1.04168032e-01 3.23772712e+00] [-1.52911912e-02 9.99880464e-01 -2.28828841e-03 -2.07555399e-01] [-1.04190926e-01 6.82711672e-04 9.94557080e-01 -6.25131904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.21, Z:-0.63 [[ 9.94476001e-01 1.38262593e-02 1.04049589e-01 3.26998918e+00] [-1.36603401e-02 9.99904032e-01 -2.30709210e-03 -2.09680860e-01] [-1.04071502e-01 8.72994942e-04 9.94569435e-01 -6.28154802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.21, Z:-0.63 [[ 9.94454412e-01 1.24460584e-02 1.04429487e-01 3.30254997e+00] [-1.22692464e-02 9.99922003e-01 -2.33536929e-03 -2.11824205e-01] [-1.04450408e-01 1.04114718e-03 9.94529551e-01 -6.31766229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9458715600000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.21, Z:-0.64 [[ 9.94411636e-01 1.13325397e-02 1.04962243e-01 3.33561989e+00] [-1.11455184e-02 9.99935082e-01 -2.36819267e-03 -2.14580500e-01] [-1.04982267e-01 1.18509973e-03 9.94473388e-01 -6.35395471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.22, Z:-0.64 [[ 9.94471692e-01 9.92550357e-03 1.04534864e-01 3.36772292e+00] [-9.73001629e-03 9.99949830e-01 -2.37987445e-03 -2.20547185e-01] [-1.04553240e-01 1.34959185e-03 9.94518375e-01 -6.38513872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.22, Z:-0.64 [[ 9.94457804e-01 9.73358603e-03 1.04684928e-01 3.40064166e+00] [-9.53519509e-03 9.99951670e-01 -2.39543976e-03 -2.23833474e-01] [-1.04703184e-01 1.38397255e-03 9.94502553e-01 -6.42208046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.23, Z:-0.65 [[ 9.94528948e-01 1.02187096e-02 1.03960324e-01 3.43260922e+00] [-1.00235041e-02 9.99946883e-01 -2.39997188e-03 -2.29841726e-01] [-1.03979327e-01 1.34479478e-03 9.94578550e-01 -6.45503218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065871560000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.23, Z:-0.65 [[ 9.94577579e-01 1.14223391e-02 1.03368126e-01 3.46520402e+00] [-1.12346234e-02 9.99934014e-01 -2.39803866e-03 -2.33452336e-01] [-1.03388696e-01 1.22373352e-03 9.94640277e-01 -6.47790933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.24, Z:-0.65 [[ 9.94461739e-01 1.28807332e-02 1.04306931e-01 3.49665164e+00] [-1.26954122e-02 9.99916432e-01 -2.44044211e-03 -2.36200776e-01] [-1.04329649e-01 1.10270681e-03 9.94542160e-01 -6.52790931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.24, Z:-0.66 [[ 9.94447440e-01 1.52306132e-02 1.04126453e-01 3.52818924e+00] [-1.50568039e-02 9.99883626e-01 -2.45509815e-03 -2.38552678e-01] [-1.04151728e-01 8.73654485e-04 9.94561036e-01 -6.55833141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.24, Z:-0.66 [[ 9.94381436e-01 1.81602098e-02 1.04286945e-01 3.56116525e+00] [-1.79999652e-02 9.99834918e-01 -2.47759348e-03 -2.41105070e-01] [-1.04314723e-01 5.86511588e-04 9.94544164e-01 -6.59321494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.25, Z:-0.66 [[ 9.94219635e-01 2.46268652e-02 1.04502797e-01 3.59311118e+00] [-2.44994275e-02 9.99696710e-01 -2.50313079e-03 -2.45096025e-01] [-1.04532746e-01 -7.15969094e-05 9.94521443e-01 -6.62443887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.25, Z:-0.67 [[ 9.94160974e-01 2.84411689e-02 1.04091587e-01 3.62630317e+00] [-2.83336455e-02 9.99595366e-01 -2.51178895e-03 -2.47480303e-01] [-1.04120906e-01 -4.52171560e-04 9.94564544e-01 -6.65814154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.25, Z:-0.67 [[ 9.94073732e-01 3.24051173e-02 1.03765713e-01 3.65775791e+00] [-3.23176911e-02 9.99474460e-01 -2.52414044e-03 -2.48933522e-01] [-1.03792975e-01 -8.44286566e-04 9.94598565e-01 -6.69049060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.25, Z:-0.67 [[ 9.93913085e-01 3.98152195e-02 1.02720630e-01 3.69075644e+00] [-3.97671269e-02 9.99205805e-01 -2.51683298e-03 -2.49929512e-01] [-1.02739258e-01 -1.58339110e-03 9.94707061e-01 -6.73242409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.25, Z:-0.68 [[ 9.93706746e-01 4.33204013e-02 1.03296878e-01 3.72263132e+00] [-4.32885188e-02 9.99059355e-01 -2.55147115e-03 -2.51180769e-01] [-1.03310243e-01 -1.93615475e-03 9.94647297e-01 -6.77451087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.25, Z:-0.68 [[ 9.93552528e-01 4.64809830e-02 1.03406446e-01 3.75465510e+00] [-4.64641251e-02 9.98916645e-01 -2.57313392e-03 -2.51802767e-01] [-1.03414022e-01 -2.24814632e-03 9.94635856e-01 -6.80828970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.25, Z:-0.68 [[ 9.93274415e-01 5.17581267e-02 1.03571395e-01 3.78764487e+00] [-5.17679259e-02 9.98655770e-01 -2.59526844e-03 -2.50064583e-01] [-1.03566497e-01 -2.78386256e-03 9.94618636e-01 -6.84625695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.25, Z:-0.69 [[ 9.93144316e-01 5.38387209e-02 1.03758180e-01 3.81972207e+00] [-5.38578612e-02 9.98545177e-01 -2.61922810e-03 -2.49266104e-01] [-1.03748246e-01 -2.98692217e-03 9.94599105e-01 -6.88381396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425871560000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.25, Z:-0.69 [[ 9.93151848e-01 5.55005698e-02 1.02806101e-01 3.85237237e+00] [-5.55264297e-02 9.98453800e-01 -2.61247665e-03 -2.49250135e-01] [-1.02792137e-01 -3.11386975e-03 9.94697985e-01 -6.90388886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.25, Z:-0.70 [[ 9.92910601e-01 5.66323012e-02 1.04505125e-01 3.88420981e+00] [-5.66632337e-02 9.98389764e-01 -2.67531750e-03 -2.49117862e-01] [-1.04488357e-01 -3.26524723e-03 9.94520750e-01 -6.96038579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.25, Z:-0.70 [[ 9.92900527e-01 5.73886990e-02 1.04187723e-01 3.91591964e+00] [-5.74217181e-02 9.98346401e-01 -2.68502774e-03 -2.48795046e-01] [-1.04169529e-01 -3.31667261e-03 9.94554025e-01 -6.99671528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.25, Z:-0.70 [[ 9.92883936e-01 5.77313329e-02 1.04156528e-01 3.94830199e+00] [-5.77643663e-02 9.98326589e-01 -2.70182995e-03 -2.46372409e-01] [-1.04138211e-01 -3.33393228e-03 9.94557247e-01 -7.03777723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.25, Z:-0.71 [[ 9.92879270e-01 5.78124731e-02 1.04156002e-01 3.98156825e+00] [-5.78438439e-02 9.98321932e-01 -2.72193939e-03 -2.47371174e-01] [-1.04138584e-01 -3.32222635e-03 9.94557247e-01 -7.07627343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575871560000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.25, Z:-0.71 [[ 9.92980452e-01 5.77284774e-02 1.03233933e-01 4.01447156e+00] [-5.77581147e-02 9.98326943e-01 -2.70468799e-03 -2.47178297e-01] [-1.03217355e-01 -3.27689505e-03 9.94653427e-01 -7.09629452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.25, Z:-0.71 [[ 9.92925815e-01 5.70000734e-02 1.04160055e-01 4.04618606e+00] [-5.70240433e-02 9.98369017e-01 -2.75021557e-03 -2.46447701e-01] [-1.04146934e-01 -3.20886745e-03 9.94556745e-01 -7.14712013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.24, Z:-0.72 [[ 9.93260578e-01 5.58758640e-02 1.01544633e-01 4.07926131e+00] [-5.58916218e-02 9.98433212e-01 -2.69215376e-03 -2.44042315e-01] [-1.01535960e-01 -3.00148403e-03 9.94827342e-01 -7.17816298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.24, Z:-0.72 [[ 9.93303456e-01 5.53596960e-02 1.01407829e-01 4.11144109e+00] [-5.53706897e-02 9.98462193e-01 -2.70852921e-03 -2.43572019e-01] [-1.01401827e-01 -2.92463003e-03 9.94841252e-01 -7.22020131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.24, Z:-0.73 [[ 9.93310928e-01 5.38096365e-02 1.02166156e-01 4.14423608e+00] [-5.38107190e-02 9.98547374e-01 -2.74744610e-03 -2.41828487e-01] [-1.02165586e-01 -2.76856609e-03 9.94763554e-01 -7.25163619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.24, Z:-0.73 [[ 9.93303911e-01 5.30860002e-02 1.02611977e-01 4.17710949e+00] [-5.30811483e-02 9.98586333e-01 -2.77981193e-03 -2.40666123e-01] [-1.02614487e-01 -2.68556352e-03 9.94717575e-01 -7.28569769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.24, Z:-0.73 [[ 9.93307000e-01 5.26189685e-02 1.02822406e-01 4.20868890e+00] [-5.26094915e-02 9.98611220e-01 -2.80596521e-03 -2.39173097e-01] [-1.02827255e-01 -2.62224960e-03 9.94695772e-01 -7.31336686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.24, Z:-0.73 [[ 9.93242029e-01 5.14355873e-02 1.04041588e-01 4.24047591e+00] [-5.14174042e-02 9.98673159e-01 -2.85860370e-03 -2.35379031e-01] [-1.04050575e-01 -2.51026302e-03 9.94568839e-01 -7.34884111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.23, Z:-0.74 [[ 9.93294324e-01 5.12081316e-02 1.03653814e-01 4.27338082e+00] [-5.11869016e-02 9.98684977e-01 -2.86658989e-03 -2.34014123e-01] [-1.03664300e-01 -2.45835013e-03 9.94609305e-01 -7.38136625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.23, Z:-0.74 [[ 9.93305391e-01 5.11433374e-02 1.03579729e-01 4.30576107e+00] [-5.11196757e-02 9.98688368e-01 -2.88479998e-03 -2.32551070e-01] [-1.03591409e-01 -2.42947478e-03 9.94616970e-01 -7.41852761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.23, Z:-0.75 [[ 9.93298923e-01 5.15908304e-02 1.03419705e-01 4.33895021e+00] [-5.15675351e-02 9.98665297e-01 -2.90075171e-03 -2.29660812e-01] [-1.03431323e-01 -2.45178573e-03 9.94633576e-01 -7.45895950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.23, Z:-0.75 [[ 9.93366732e-01 5.16847298e-02 1.02719150e-01 4.37080974e+00] [-5.16601407e-02 9.98660509e-01 -2.90143952e-03 -2.28927918e-01] [-1.02731519e-01 -2.42429223e-03 9.94706167e-01 -7.50159562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.23, Z:-0.75 [[ 9.93444878e-01 5.20698315e-02 1.01764465e-01 4.40410261e+00] [-5.20458160e-02 9.98640508e-01 -2.89289293e-03 -2.28536095e-01] [-1.01776750e-01 -2.42248496e-03 9.94804315e-01 -7.53996194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.23, Z:-0.76 [[ 9.93435146e-01 5.20611782e-02 1.01863855e-01 4.43727033e+00] [-5.20351019e-02 9.98641002e-01 -2.91495049e-03 -2.27680614e-01] [-1.01877178e-01 -2.40468179e-03 9.94794078e-01 -7.58550689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.22, Z:-0.76 [[ 9.93602534e-01 5.21776024e-02 1.00157392e-01 4.46997914e+00] [-5.21511088e-02 9.98635039e-01 -2.88454206e-03 -2.24319959e-01] [-1.00171189e-01 -2.35723074e-03 9.94967425e-01 -7.61644330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.22, Z:-0.77 [[ 9.93522036e-01 5.21668457e-02 1.00958324e-01 4.50185622e+00] [-5.21377142e-02 9.98635609e-01 -2.92894786e-03 -2.23072397e-01] [-1.00973372e-01 -2.35376202e-03 9.94886344e-01 -7.66297020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.22, Z:-0.77 [[ 9.93624774e-01 5.22819714e-02 9.98819460e-02 4.53508794e+00] [-5.22529102e-02 9.98629647e-01 -2.90883911e-03 -2.22237865e-01] [-9.98971523e-02 -2.32882775e-03 9.94995043e-01 -7.69088501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.22, Z:-0.77 [[ 9.93548606e-01 5.26314259e-02 1.00454473e-01 4.56700459e+00] [-5.26017615e-02 9.98611224e-01 -2.94586979e-03 -2.20275488e-01] [-1.00470010e-01 -2.35721741e-03 9.94937295e-01 -7.73076455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.22, Z:-0.78 [[ 9.93483627e-01 5.32296027e-02 1.00781410e-01 4.60011646e+00] [-5.32009253e-02 9.98579399e-01 -2.97412375e-03 -2.19650597e-01] [-1.00796552e-01 -2.40692103e-03 9.94904147e-01 -7.76646362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.22, Z:-0.78 [[ 9.93378141e-01 5.41323037e-02 1.01338852e-01 4.63241736e+00] [-5.41058463e-02 9.98530664e-01 -3.01167891e-03 -2.18294091e-01] [-1.01352980e-01 -2.49128835e-03 9.94847409e-01 -7.80207277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.21, Z:-0.78 [[ 9.93180471e-01 5.70330225e-02 1.01684738e-01 4.66569085e+00] [-5.70203574e-02 9.98368407e-01 -3.03351672e-03 -2.13202014e-01] [-1.01691841e-01 -2.78527056e-03 9.94812048e-01 -7.83653939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.21, Z:-0.79 [[ 9.93022202e-01 5.92803990e-02 1.01944795e-01 4.69827798e+00] [-5.92774258e-02 9.98236853e-01 -3.06125549e-03 -2.11720034e-01] [-1.01946524e-01 -3.00313034e-03 9.94785347e-01 -7.88085917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.21, Z:-0.79 [[ 9.92916175e-01 6.35100365e-02 1.00418850e-01 4.73035610e+00] [-6.35267104e-02 9.97975524e-01 -3.03492465e-03 -2.07140854e-01] [-1.00408303e-01 -3.36585345e-03 9.94940623e-01 -7.91965491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.20, Z:-0.80 [[ 9.92883703e-01 6.53493437e-02 9.95560940e-02 4.76283506e+00] [-6.53731480e-02 9.97856298e-01 -3.02664442e-03 -2.04864998e-01] [-9.95404646e-02 -3.50318935e-03 9.95027348e-01 -7.95821430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.20, Z:-0.80 [[ 9.92789088e-01 6.67862707e-02 9.95460737e-02 4.79609737e+00] [-6.68153320e-02 9.97760710e-01 -3.04566895e-03 -2.03155044e-01] [-9.95265701e-02 -3.62749706e-03 9.95028293e-01 -8.00324126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.20, Z:-0.80 [[ 9.92623662e-01 6.78707735e-02 1.00458071e-01 4.82811625e+00] [-6.79038441e-02 9.97687072e-01 -3.09413666e-03 -1.98398334e-01] [-1.00435721e-01 -3.75017595e-03 9.94936481e-01 -8.04023966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.20, Z:-0.81 [[ 9.92611984e-01 6.76697728e-02 1.00708741e-01 4.86134478e+00] [-6.77000844e-02 9.97700837e-01 -3.12062122e-03 -1.95671093e-01] [-1.00688367e-01 -3.72042423e-03 9.94911057e-01 -8.07550183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.19, Z:-0.81 [[ 9.92635659e-01 6.69386934e-02 1.00963651e-01 4.89285274e+00] [-6.69632575e-02 9.97750471e-01 -3.14960469e-03 -1.92826063e-01] [-1.00947361e-01 -3.63444504e-03 9.94885130e-01 -8.11318848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.19, Z:-0.82 [[ 9.92690546e-01 6.58679184e-02 1.01128122e-01 4.92574584e+00] [-6.58858641e-02 9.97822142e-01 -3.16621206e-03 -1.90975648e-01] [-1.01116431e-01 -3.51984490e-03 9.94868372e-01 -8.15302036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.19, Z:-0.82 [[ 9.92876681e-01 6.23000704e-02 1.01560803e-01 4.95777202e+00] [-6.22975227e-02 9.98052493e-01 -3.19988667e-03 -1.88203048e-01] [-1.01562366e-01 -3.14989360e-03 9.94824187e-01 -8.19491555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.19, Z:-0.82 [[ 9.93005557e-01 6.00513904e-02 1.01655276e-01 4.99097651e+00] [-6.00352084e-02 9.98191062e-01 -3.22133412e-03 -1.87078637e-01] [-1.01664833e-01 -2.90409298e-03 9.94814469e-01 -8.22833207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.19, Z:-0.83 [[ 9.93120178e-01 5.76134824e-02 1.01946061e-01 5.02350964e+00] [-5.75823583e-02 9.98335468e-01 -3.25055233e-03 -1.85433038e-01] [-1.01963644e-01 -2.64210551e-03 9.94784617e-01 -8.26282945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.18, Z:-0.83 [[ 9.93262215e-01 5.52640351e-02 1.01862941e-01 5.05616402e+00] [-5.52185962e-02 9.98468942e-01 -3.26789534e-03 -1.84019383e-01] [-1.01887580e-01 -2.37885164e-03 9.94793075e-01 -8.30345079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.18, Z:-0.83 [[ 9.93585159e-01 4.98828056e-02 1.01490084e-01 5.08814423e+00] [-4.98076558e-02 9.98753456e-01 -3.27595435e-03 -1.82581378e-01] [-1.01526986e-01 -1.80004354e-03 9.94831157e-01 -8.34949850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.18, Z:-0.84 [[ 9.93691984e-01 4.72191435e-02 1.01718206e-01 5.12004406e+00] [-4.71278250e-02 9.98883409e-01 -3.30203570e-03 -1.83304363e-01] [-1.01760547e-01 -1.51255139e-03 9.94807772e-01 -8.38860292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.18, Z:-0.84 [[ 9.93788282e-01 4.46723216e-02 1.01927591e-01 5.15143737e+00] [-4.45653542e-02 9.99000929e-01 -3.32749902e-03 -1.83243810e-01] [-1.01974405e-01 -1.23560967e-03 9.94786255e-01 -8.42354175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.18, Z:-0.85 [[ 9.94020957e-01 4.02288108e-02 1.01508520e-01 5.18296515e+00] [-4.00977259e-02 9.99190206e-01 -3.33227125e-03 -1.79858385e-01] [-1.01560372e-01 -7.57913356e-04 9.94829089e-01 -8.45519972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.18, Z:-0.85 [[ 9.94075599e-01 3.83938690e-02 1.01683897e-01 5.21551385e+00] [-3.82508948e-02 9.99262530e-01 -3.35622033e-03 -1.79602682e-01] [-1.01737766e-01 -5.53163300e-04 9.94811098e-01 -8.47566211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.18, Z:-0.85 [[ 9.94025237e-01 3.69579746e-02 1.02703150e-01 5.24713504e+00] [-3.68023288e-02 9.99316745e-01 -3.41059988e-03 -1.79949381e-01] [-1.02759027e-01 -3.89492750e-04 9.94706203e-01 -8.52550850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745871560000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.18, Z:-0.85 [[ 9.94075841e-01 3.57254783e-02 1.02649464e-01 5.27931963e+00] [-3.55622513e-02 9.99361610e-01 -3.42034550e-03 -1.80380826e-01] [-1.02706127e-01 -2.50363212e-04 9.94711711e-01 -8.54408120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.18, Z:-0.86 [[ 9.93989734e-01 3.57115294e-02 1.03484763e-01 5.31239122e+00] [-3.55436336e-02 9.99362113e-01 -3.46662190e-03 -1.79643425e-01] [-1.03542550e-01 -2.32437927e-04 9.94624998e-01 -8.59067030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.18, Z:-0.86 [[ 9.93863969e-01 3.61269947e-02 1.04543060e-01 5.34379498e+00] [-3.59558230e-02 9.99347174e-01 -3.52211891e-03 -1.79947784e-01] [-1.04602055e-01 -2.58424677e-04 9.94514124e-01 -8.62376189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.18, Z:-0.87 [[ 9.93668180e-01 3.66893723e-02 1.06195283e-01 5.37639134e+00] [-3.65139306e-02 9.99326672e-01 -3.59655667e-03 -1.80705094e-01] [-1.06255735e-01 -3.03823283e-04 9.94338789e-01 -8.65892203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.18, Z:-0.87 [[ 9.93627427e-01 3.69692201e-02 1.06479163e-01 5.40855096e+00] [-3.67921695e-02 9.99316356e-01 -3.62735345e-03 -1.80682340e-01] [-1.06540470e-01 -3.13361542e-04 9.94308317e-01 -8.69651790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.18, Z:-0.87 [[ 9.93569504e-01 3.75923991e-02 1.06800993e-01 5.44108382e+00] [-3.74157519e-02 9.99293091e-01 -3.65796779e-03 -1.80646528e-01] [-1.06863007e-01 -3.61594227e-04 9.94273688e-01 -8.72553872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.18, Z:-0.88 [[ 9.93627253e-01 3.77999546e-02 1.06188725e-01 5.47284580e+00] [-3.76243383e-02 9.99285261e-01 -3.65735240e-03 -1.81173241e-01] [-1.06251075e-01 -3.61235484e-04 9.94339267e-01 -8.78298331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.18, Z:-0.88 [[ 9.93707351e-01 3.78763433e-02 1.05409126e-01 5.50600763e+00] [-3.77017606e-02 9.99282373e-01 -3.64907335e-03 -1.83227043e-01] [-1.05471695e-01 -3.47998623e-04 9.94422245e-01 -8.82514865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.18, Z:-0.89 [[ 9.93738673e-01 3.79773807e-02 1.05076966e-01 5.53802734e+00] [-3.78022919e-02 9.99278542e-01 -3.65810114e-03 -1.84385823e-01] [-1.05140083e-01 -3.36953589e-04 9.94457364e-01 -8.86722866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.19, Z:-0.89 [[ 9.93842020e-01 3.78517904e-02 1.04140681e-01 5.56974267e+00] [-3.76771493e-02 9.99283319e-01 -3.64438335e-03 -1.85642612e-01] [-1.04203991e-01 -3.01782657e-04 9.94555899e-01 -8.90483794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.19, Z:-0.89 [[ 9.93877132e-01 3.77604646e-02 1.03838308e-01 5.60249810e+00] [-3.75845248e-02 9.99286782e-01 -3.65118974e-03 -1.87658444e-01] [-1.03902119e-01 -2.73879478e-04 9.94587490e-01 -8.94433396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.19, Z:-0.90 [[ 9.93892400e-01 3.75042825e-02 1.03784999e-01 5.63542734e+00] [-3.73250796e-02 9.99296441e-01 -3.66896010e-03 -1.89327935e-01] [-1.03849581e-01 -2.27231778e-04 9.94592989e-01 -8.98581711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.19, Z:-0.90 [[ 9.93887574e-01 3.72552661e-02 1.03920811e-01 5.66709547e+00] [-3.70719779e-02 9.99305765e-01 -3.69535222e-03 -1.90516637e-01] [-1.03986337e-01 -1.79785356e-04 9.94578710e-01 -9.02679919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.19, Z:-0.91 [[ 9.93885795e-01 3.69686985e-02 1.04040095e-01 5.69961347e+00] [-3.67821508e-02 9.99316415e-01 -3.71174225e-03 -1.92643741e-01] [-1.04106193e-01 -1.37770571e-04 9.94566178e-01 -9.06700799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.20, Z:-0.91 [[ 9.93841079e-01 3.72929281e-02 1.04351075e-01 5.73156965e+00] [-3.71047952e-02 9.99304365e-01 -3.74424654e-03 -1.95385946e-01] [-1.04418119e-01 -1.50739250e-04 9.94533475e-01 -9.10462397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.20, Z:-0.91 [[ 9.93864737e-01 3.86486405e-02 1.03629957e-01 5.76307908e+00] [-3.84692068e-02 9.99252823e-01 -3.73034043e-03 -1.98188543e-01] [-1.03696700e-01 -2.79108444e-04 9.94608926e-01 -9.14111124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225871560000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.20, Z:-0.92 [[ 9.93873834e-01 3.98617259e-02 1.03081736e-01 5.79517020e+00] [-3.96887538e-02 9.99205132e-01 -3.72934274e-03 -2.00062078e-01] [-1.03148458e-01 -3.84689488e-04 9.94665897e-01 -9.16722693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.20, Z:-0.92 [[ 9.93828858e-01 4.14693081e-02 1.02880986e-01 5.82783941e+00] [-4.13036813e-02 9.99139637e-01 -3.74062331e-03 -2.01913471e-01] [-1.02947592e-01 -5.31824058e-04 9.94686639e-01 -9.22159510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285871560000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.20, Z:-0.92 [[ 9.93643693e-01 4.54022946e-02 1.03008942e-01 5.85992371e+00] [-4.52552536e-02 9.98968360e-01 -3.76528893e-03 -2.03268793e-01] [-1.03073627e-01 -9.20340207e-04 9.94673303e-01 -9.23999917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.20, Z:-0.93 [[ 9.93482225e-01 4.77125487e-02 1.03520925e-01 5.89220328e+00] [-4.75746208e-02 9.98860449e-01 -3.80249418e-03 -2.03779227e-01] [-1.03584385e-01 -1.14725839e-03 9.94620007e-01 -9.29180925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.20, Z:-0.93 [[ 9.93278604e-01 4.99993252e-02 1.04391961e-01 5.92380527e+00] [-4.98694278e-02 9.98748303e-01 -3.85571410e-03 -2.04321283e-01] [-1.04454077e-01 -1.37616907e-03 9.94528759e-01 -9.32467014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.20, Z:-0.94 [[ 9.92969465e-01 5.41956507e-02 1.05235326e-01 5.95713306e+00] [-5.40850412e-02 9.98528691e-01 -3.90665120e-03 -2.04548175e-01] [-1.05292215e-01 -1.81247157e-03 9.94439674e-01 -9.36018103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.21, Z:-0.94 [[ 9.92881967e-01 5.62392924e-02 1.04988288e-01 5.99035585e+00] [-5.61384935e-02 9.98415306e-01 -3.91731758e-03 -2.05159381e-01] [-1.05042221e-01 -2.00445034e-03 9.94465743e-01 -9.39867853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.21, Z:-0.94 [[ 9.92786451e-01 5.81335871e-02 1.04859658e-01 6.02206087e+00] [-5.80413384e-02 9.98306431e-01 -3.93363288e-03 -2.05434923e-01] [-1.04910747e-01 -2.18093749e-03 9.94479250e-01 -9.44049585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.21, Z:-0.95 [[ 9.92781449e-01 5.82203505e-02 1.04858883e-01 6.05532315e+00] [-5.81264150e-02 9.98301400e-01 -3.95417900e-03 -2.06818780e-01] [-1.04910984e-01 -2.16943542e-03 9.94479250e-01 -9.47897824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.21, Z:-0.95 [[ 9.92800781e-01 6.02178307e-02 1.03539469e-01 6.08845286e+00] [-6.01362814e-02 9.98182511e-01 -3.91192182e-03 -2.06344403e-01] [-1.03586854e-01 -2.34271959e-03 9.94617653e-01 -9.52476956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.21, Z:-0.96 [[ 9.92856536e-01 6.04539107e-02 1.02865073e-01 6.12036549e+00] [-6.03725034e-02 9.98168269e-01 -3.90745671e-03 -2.06939246e-01] [-1.02912873e-01 -2.33067802e-03 9.94687644e-01 -9.56515678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555871560000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.21, Z:-0.96 [[ 9.92868987e-01 6.02124244e-02 1.02886533e-01 6.15297987e+00] [-6.01284738e-02 9.98182949e-01 -3.92003131e-03 -2.07553526e-01] [-1.02935618e-01 -2.29433271e-03 9.94685375e-01 -9.59279110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.21, Z:-0.96 [[ 9.92973630e-01 5.80440506e-02 1.03122541e-01 6.18467934e+00] [-5.79459237e-02 9.98311910e-01 -3.94960058e-03 -2.05947299e-01] [-1.03177712e-01 -2.05368167e-03 9.94660818e-01 -9.64210457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.21, Z:-0.97 [[ 9.93048643e-01 5.67971111e-02 1.03094526e-01 6.21755579e+00] [-5.66903912e-02 9.98383924e-01 -3.96729703e-03 -2.06462635e-01] [-1.03153249e-01 -1.90475010e-03 9.94663651e-01 -9.68411323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.21, Z:-0.97 [[ 9.93149526e-01 5.55799871e-02 1.02785626e-01 6.24897164e+00] [-5.54652016e-02 9.98452701e-01 -3.97671956e-03 -2.07060892e-01] [-1.02847612e-01 -1.75154834e-03 9.94695582e-01 -9.71531499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.21, Z:-0.97 [[ 9.93138394e-01 5.38281599e-02 1.03820323e-01 6.28136858e+00] [-5.36993920e-02 9.98548986e-01 -4.03703814e-03 -2.06857925e-01] [-1.03886984e-01 -1.56575063e-03 9.94587876e-01 -9.74795567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.21, Z:-0.98 [[ 9.93143746e-01 5.31632660e-02 1.04111320e-01 6.31448116e+00] [-5.30281144e-02 9.98584735e-01 -4.06762431e-03 -2.07244055e-01] [-1.04180223e-01 -1.48109136e-03 9.94557332e-01 -9.77640099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.21, Z:-0.98 [[ 9.93151457e-01 5.26102887e-02 1.04318463e-01 6.34684928e+00] [-5.24694657e-02 9.98614130e-01 -4.09564535e-03 -2.07704566e-01] [-1.04389364e-01 -1.40593785e-03 9.94535512e-01 -9.81532313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.21, Z:-0.98 [[ 9.93215631e-01 5.11295110e-02 1.04443681e-01 6.37988615e+00] [-5.09779840e-02 9.98691273e-01 -4.12151216e-03 -2.08122425e-01] [-1.04517724e-01 -1.23077802e-03 9.94522262e-01 -9.84028068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.21, Z:-0.99 [[ 9.93274682e-01 5.00863653e-02 1.04387555e-01 6.41196738e+00] [-4.99270525e-02 9.98744285e-01 -4.14028267e-03 -2.09027419e-01] [-1.04463846e-01 -1.09932499e-03 9.94528077e-01 -9.88675583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.21, Z:-0.99 [[ 9.93354336e-01 4.87718235e-02 1.04251969e-01 6.44403263e+00] [-4.86036679e-02 9.98809504e-01 -4.15432531e-03 -2.09984804e-01] [-1.04330471e-01 -9.40311014e-04 9.94542241e-01 -9.91726881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.21, Z:-1.00 [[ 9.93537385e-01 4.49564422e-02 1.04222755e-01 6.47699312e+00] [-4.47654581e-02 9.98988812e-01 -4.17208892e-03 -2.11302044e-01] [-1.04304929e-01 -5.20453071e-04 9.94545228e-01 -9.95822447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885871560000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.21, Z:-1.00 [[ 9.93599454e-01 4.31420847e-02 1.04397732e-01 6.50868467e+00] [-4.29382895e-02 9.99068899e-01 -4.19984287e-03 -2.12991586e-01] [-1.04481717e-01 -3.09698458e-04 9.94526759e-01 -9.97770045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915871560000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.21, Z:-1.00 [[ 9.93622991e-01 4.09406091e-02 1.05058167e-01 6.54108109e+00] [-4.07199166e-02 9.99161580e-01 -4.24563226e-03 -2.14629681e-01] [-1.05143903e-01 -5.94019578e-05 9.94457016e-01 -1.00173344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.22, Z:-1.01 [[ 9.93779261e-01 3.71088198e-02 1.05003410e-01 6.57221287e+00] [-3.68647926e-02 9.99311163e-01 -4.26454255e-03 -2.17755388e-01] [-1.05089332e-01 3.67085023e-04 9.94462718e-01 -1.00613886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.22, Z:-1.01 [[ 9.93829058e-01 3.55871435e-02 1.05058832e-01 6.60381829e+00] [-3.53330320e-02 9.99366431e-01 -4.27953263e-03 -2.19923820e-01] [-1.05144566e-01 5.41076808e-04 9.94456800e-01 -1.00986488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.22, Z:-1.01 [[ 9.93848709e-01 3.45733273e-02 1.05211352e-01 6.63672903e+00] [-3.43115551e-02 9.99401945e-01 -4.29759562e-03 -2.22604267e-01] [-1.05297012e-01 6.61194762e-04 9.94440598e-01 -1.01396667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.23, Z:-1.02 [[ 9.93980055e-01 3.33696821e-02 1.04355707e-01 6.66949645e+00] [-3.31034692e-02 9.99442755e-01 -4.28245735e-03 -2.27299560e-01] [-1.04440460e-01 8.02141251e-04 9.94530817e-01 -1.01794179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065871560000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.23, Z:-1.02 [[ 9.94027535e-01 3.32571793e-02 1.03938540e-01 6.70106701e+00] [-3.29903944e-02 9.99446482e-01 -4.28532494e-03 -2.30390762e-01] [-1.04023526e-01 8.30757570e-04 9.94574490e-01 -1.02074178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.23, Z:-1.03 [[ 9.94084006e-01 3.38074238e-02 1.03218448e-01 6.73384741e+00] [-3.35452636e-02 9.99428055e-01 -4.27518380e-03 -2.33404614e-01] [-1.03303945e-01 7.87401809e-04 9.94649524e-01 -1.02518485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.24, Z:-1.03 [[ 9.94072494e-01 3.47828771e-02 1.03004995e-01 6.76583720e+00] [-3.45249495e-02 9.99394644e-01 -4.28637936e-03 -2.35818182e-01] [-1.03091733e-01 7.04729572e-04 9.94671603e-01 -1.02848485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.24, Z:-1.03 [[ 9.93955889e-01 3.89533116e-02 1.02636889e-01 6.79810988e+00] [-3.87174910e-02 9.99240990e-01 -4.28956414e-03 -2.38269131e-01] [-1.02726079e-01 2.89794732e-04 9.94709640e-01 -1.03169149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.24, Z:-1.04 [[ 9.93845157e-01 4.17269788e-02 1.02619015e-01 6.83080786e+00] [-4.15041725e-02 9.99129050e-01 -4.30637381e-03 -2.40124270e-01] [-1.02709331e-01 2.07514596e-05 9.94711412e-01 -1.03502293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.24, Z:-1.04 [[ 9.93452537e-01 4.80804098e-02 1.03635572e-01 6.86303474e+00] [-4.78854303e-02 9.98843275e-01 -4.37004255e-03 -2.42224651e-01] [-1.03725807e-01 -6.21204086e-04 9.94605736e-01 -1.03854865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.24, Z:-1.04 [[ 9.93255545e-01 5.12251160e-02 1.04016393e-01 6.89558534e+00] [-5.10438529e-02 9.98686696e-01 -4.40557415e-03 -2.43786002e-01] [-1.04105464e-01 -9.33536503e-04 9.94565825e-01 -1.04194972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.25, Z:-1.05 [[ 9.93049933e-01 5.41721446e-02 1.04485453e-01 6.92860321e+00] [-5.40034777e-02 9.98530855e-01 -4.44471470e-03 -2.45525010e-01] [-1.04572728e-01 -1.22875417e-03 9.94516483e-01 -1.04586179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.25, Z:-1.05 [[ 9.92747939e-01 5.90757080e-02 1.04697614e-01 6.96147639e+00] [-5.89314036e-02 9.98252009e-01 -4.47397744e-03 -2.46978618e-01] [-1.04778907e-01 -1.72844549e-03 9.94494039e-01 -1.04945192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.25, Z:-1.05 [[ 9.92640013e-01 6.11177954e-02 1.04548643e-01 6.99301252e+00] [-6.09830192e-02 9.98128713e-01 -4.48825911e-03 -2.47742357e-01] [-1.04627315e-01 -1.92046632e-03 9.94509646e-01 -1.05308855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.25, Z:-1.06 [[ 9.92562788e-01 6.30165250e-02 1.04153878e-01 7.02624987e+00] [-6.28912039e-02 9.98010288e-01 -4.49019865e-03 -2.48371304e-01] [-1.04229599e-01 -2.09355872e-03 9.94551058e-01 -1.05694168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.25, Z:-1.06 [[ 9.92348083e-01 6.67452420e-02 1.03876637e-01 7.05775385e+00] [-6.66387750e-02 9.97767023e-01 -4.49899901e-03 -2.46343038e-01] [-1.03944970e-01 -2.45763882e-03 9.94580013e-01 -1.06023176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.25, Z:-1.06 [[ 9.92244600e-01 6.83198450e-02 1.03841474e-01 7.09033332e+00] [-6.82200300e-02 9.97660076e-01 -4.51674327e-03 -2.46410320e-01] [-1.03907076e-01 -2.60235432e-03 9.94583605e-01 -1.06400068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.25, Z:-1.07 [[ 9.92132113e-01 6.97294087e-02 1.03979230e-01 7.12264122e+00] [-6.96350006e-02 9.97562196e-01 -4.54227063e-03 -2.47290942e-01] [-1.04042478e-01 -2.73406115e-03 9.94569096e-01 -1.06813318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.25, Z:-1.07 [[ 9.91975023e-01 7.17859730e-02 1.04078467e-01 7.15396345e+00] [-7.16799560e-02 9.97416309e-01 -4.76346506e-03 -2.46359944e-01] [-1.04151511e-01 -2.73510160e-03 9.94557682e-01 -1.07235183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.25, Z:-1.08 [[ 9.91970644e-01 7.16074671e-02 1.04243046e-01 7.18739775e+00] [-7.15590032e-02 9.97427485e-01 -4.20963706e-03 -2.45755063e-01] [-1.04276321e-01 -3.28369211e-03 9.94542943e-01 -1.07607643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.25, Z:-1.08 [[ 9.91919320e-01 7.20589622e-02 1.04420158e-01 7.22057002e+00] [-7.19717321e-02 9.97396028e-01 -4.60802962e-03 -2.45315006e-01] [-1.04480300e-01 -2.94450601e-03 9.94522597e-01 -1.08006751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.24, Z:-1.08 [[ 9.91967927e-01 7.07682303e-02 1.04840307e-01 7.25234942e+00] [-7.06709857e-02 9.97488857e-01 -4.64678125e-03 -2.43770896e-01] [-1.04905882e-01 -2.79970987e-03 9.94478214e-01 -1.08421761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.24, Z:-1.09 [[ 9.92008557e-01 6.95243704e-02 1.05287152e-01 7.28481458e+00] [-6.94173385e-02 9.97576705e-01 -4.68526817e-03 -2.43692941e-01] [-1.05357750e-01 -2.66092774e-03 9.94430824e-01 -1.08789732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.24, Z:-1.09 [[ 9.92176021e-01 6.64592923e-02 1.05687778e-01 7.31775229e+00] [-6.63319177e-02 9.97786432e-01 -4.72374340e-03 -2.41196620e-01] [-1.05767767e-01 -2.32368805e-03 9.94388143e-01 -1.09106486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.24, Z:-1.09 [[ 9.92292563e-01 6.49885448e-02 1.05508093e-01 7.34994587e+00] [-6.48510584e-02 9.97883711e-01 -4.73695683e-03 -2.41251138e-01] [-1.05592656e-01 -2.14186450e-03 9.94407162e-01 -1.09472430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695871560000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.24, Z:-1.10 [[ 9.92469290e-01 6.34561025e-02 1.04776097e-01 7.38258760e+00] [-6.33107472e-02 9.97982720e-01 -4.71597496e-03 -2.41800180e-01] [-1.04863992e-01 -1.95299269e-03 9.94484655e-01 -1.09794999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.24, Z:-1.10 [[ 9.92810260e-01 6.13845739e-02 1.02760511e-01 7.41430621e+00] [-6.12316513e-02 9.98112774e-01 -4.64493323e-03 -2.41007433e-01] [-1.02851706e-01 -1.68065839e-03 9.94695281e-01 -1.10303632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.24, Z:-1.11 [[ 9.92861891e-01 6.11734920e-02 1.02386863e-01 7.44714671e+00] [-6.10186593e-02 9.98125810e-01 -4.64649237e-03 -2.40530533e-01] [-1.02479212e-01 -1.63418390e-03 9.94733804e-01 -1.10661953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.24, Z:-1.11 [[ 9.92877514e-01 6.12004546e-02 1.02219109e-01 7.48021378e+00] [-6.10442558e-02 9.98124189e-01 -4.65847517e-03 -2.39451458e-01] [-1.02312466e-01 -1.61459418e-03 9.94751000e-01 -1.11052805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815871560000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.24, Z:-1.11 [[ 9.92873796e-01 6.12897228e-02 1.02201740e-01 7.51279683e+00] [-6.11320513e-02 9.98118729e-01 -4.67710578e-03 -2.38284071e-01] [-1.02296130e-01 -1.60402627e-03 9.94752697e-01 -1.11333444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.24, Z:-1.12 [[ 9.92844018e-01 6.11553058e-02 1.02570871e-01 7.54459487e+00] [-6.09935420e-02 9.98127021e-01 -4.71566499e-03 -2.35146731e-01] [-1.02667146e-01 -1.57424097e-03 9.94714521e-01 -1.11797916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.23, Z:-1.12 [[ 9.92878567e-01 6.03212301e-02 1.02730229e-01 7.57718747e+00] [-6.01532620e-02 9.98177922e-01 -4.73507750e-03 -2.34447669e-01] [-1.02828673e-01 -1.47820144e-03 9.94697984e-01 -1.12184113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.23, Z:-1.13 [[ 9.92921963e-01 5.89638254e-02 1.03098215e-01 7.61005206e+00] [-5.87852491e-02 9.98259245e-01 -4.77233071e-03 -2.34124043e-01] [-1.03200141e-01 -1.32210230e-03 9.94659732e-01 -1.12514301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.23, Z:-1.13 [[ 9.93033463e-01 5.35181788e-02 1.04977835e-01 7.64349564e+00] [-5.33004441e-02 9.98566595e-01 -4.88046773e-03 -2.31667994e-01] [-1.05088553e-01 -7.48897440e-04 9.94462586e-01 -1.12818044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.23, Z:-1.13 [[ 9.93155501e-01 4.99760868e-02 1.05567709e-01 7.67518292e+00] [-4.97337039e-02 9.98750352e-01 -4.92889975e-03 -2.31989295e-01] [-1.05682114e-01 -3.55109282e-04 9.94399902e-01 -1.13151925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.23, Z:-1.14 [[ 9.93279875e-01 4.63552341e-02 1.06048491e-01 7.70796164e+00] [-4.60879692e-02 9.98925017e-01 -4.97084604e-03 -2.32734982e-01] [-1.06164915e-01 4.98817548e-05 9.94348535e-01 -1.13552229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025871560000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.23, Z:-1.14 [[ 9.93704178e-01 3.94142380e-02 1.04873852e-01 7.74057888e+00] [-3.91122160e-02 9.99222635e-01 -4.93570425e-03 -2.33089153e-01] [-1.04986864e-01 8.02781164e-04 9.94473285e-01 -1.13912424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.23, Z:-1.14 [[ 9.93900765e-01 3.68988036e-02 1.03921831e-01 7.77257375e+00] [-3.65864703e-02 9.99318425e-01 -4.91074318e-03 -2.34513291e-01] [-1.04032201e-01 1.07865841e-03 9.94573345e-01 -1.14400662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.24, Z:-1.15 [[ 9.94163215e-01 3.22884000e-02 1.02941544e-01 7.80545331e+00] [-3.19554397e-02 9.99477369e-01 -4.88240535e-03 -2.36664881e-01] [-1.03045389e-01 1.56436550e-03 9.94675425e-01 -1.14848267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.24, Z:-1.15 [[ 9.94292891e-01 3.03269221e-02 1.02283546e-01 7.83825953e+00] [-2.99858995e-02 9.99538456e-01 -4.87036524e-03 -2.39348273e-01] [-1.02384041e-01 1.77550541e-03 9.94743362e-01 -1.15212882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145871560000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.24, Z:-1.15 [[ 9.94358546e-01 2.87995277e-02 1.02086577e-01 7.87028999e+00] [-2.84498107e-02 9.99583309e-01 -4.88031636e-03 -2.41907620e-01] [-1.02184589e-01 1.94844050e-03 9.94763546e-01 -1.15446690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175871560000001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.24, Z:-1.16 [[ 9.94408945e-01 2.73819759e-02 1.01985676e-01 7.90330759e+00] [-2.70237007e-02 9.99622817e-01 -4.89321865e-03 -2.44085355e-01] [-1.02081195e-01 2.10983001e-03 9.94773833e-01 -1.15860793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.25, Z:-1.16 [[ 9.94462173e-01 2.55237609e-02 1.01948633e-01 7.93509622e+00] [-2.51540324e-02 9.99671526e-01 -4.91074084e-03 -2.46576292e-01] [-1.02040486e-01 2.31912679e-03 9.94777543e-01 -1.16198467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235871560000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.25, Z:-1.16 [[ 9.94408140e-01 2.50544969e-02 1.02590071e-01 7.96650984e+00] [-2.46757149e-02 9.99683204e-01 -4.95981706e-03 -2.49776720e-01] [-1.02681837e-01 2.40059911e-03 9.94711354e-01 -1.16477654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.25, Z:-1.17 [[ 9.94385662e-01 2.48232472e-02 1.02863803e-01 7.99939021e+00] [-2.44393565e-02 9.99688856e-01 -4.99085076e-03 -2.53529483e-01] [-1.02955686e-01 2.44890530e-03 9.94682929e-01 -1.16853431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295871560000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.26, Z:-1.17 [[ 9.94387442e-01 2.53469713e-02 1.02718773e-01 8.03075058e+00] [-2.49649817e-02 9.99675808e-01 -5.00288044e-03 -2.60078939e-01] [-1.02812280e-01 2.41042919e-03 9.94697856e-01 -1.17161844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.26, Z:-1.18 [[ 9.94404759e-01 2.61365480e-02 1.02352612e-01 8.06212019e+00] [-2.57596672e-02 9.99655648e-01 -5.00243422e-03 -2.63894237e-01] [-1.02448113e-01 2.33787518e-03 9.94735602e-01 -1.17622641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.27, Z:-1.18 [[ 9.94402745e-01 2.62168336e-02 1.02351638e-01 8.09536758e+00] [-2.58383365e-02 9.99653519e-01 -5.02226663e-03 -2.65655603e-01] [-1.02447843e-01 2.34955965e-03 9.94735603e-01 -1.18007416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.27, Z:-1.18 [[ 9.94427106e-01 2.75715510e-02 1.01757267e-01 8.12798883e+00] [-2.72038405e-02 9.99617403e-01 -4.99979840e-03 -2.69095997e-01] [-1.01856187e-01 2.20374659e-03 9.94796693e-01 -1.18394034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.27, Z:-1.19 [[ 9.94467568e-01 3.09989459e-02 1.00365937e-01 8.16033505e+00] [-3.06567313e-02 9.99517712e-01 -4.95058871e-03 -2.74082352e-01] [-1.00470995e-01 1.84630836e-03 9.94938275e-01 -1.18797140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.28, Z:-1.19 [[ 9.94454877e-01 3.31759908e-02 9.97940404e-02 8.19226850e+00] [-3.28479241e-02 9.99448206e-01 -4.92921347e-03 -2.77436994e-01] [-9.99025062e-02 1.62385331e-03 9.94995906e-01 -1.19127575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475871560000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.28, Z:-1.19 [[ 9.94404236e-01 3.51323563e-02 9.96289794e-02 8.22398770e+00] [-3.48133815e-02 9.99381627e-01 -4.93889819e-03 -2.80950577e-01] [-9.97408866e-02 1.44283961e-03 9.95012399e-01 -1.19402511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505871560000001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.29, Z:-1.20 [[ 9.94147944e-01 3.92643479e-02 1.00638842e-01 8.25708713e+00] [-3.89580997e-02 9.99228299e-01 -5.00733987e-03 -2.87149402e-01] [-1.00757789e-01 1.05733860e-03 9.94910423e-01 -1.19690324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.29, Z:-1.20 [[ 9.93997237e-01 4.16879427e-02 1.01151408e-01 8.28839851e+00] [-4.13903482e-02 9.99130341e-01 -5.03993613e-03 -2.91264793e-01] [-1.01273546e-01 8.22990571e-04 9.94858277e-01 -1.20208527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.30, Z:-1.21 [[ 9.93898938e-01 4.52084853e-02 1.00603652e-01 8.32056136e+00] [-4.49303528e-02 9.98977459e-01 -5.02991464e-03 -2.96770420e-01] [-1.00728175e-01 4.79069251e-04 9.94913868e-01 -1.20620609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.30, Z:-1.21 [[ 9.93805317e-01 4.71721174e-02 1.00626952e-01 8.35263848e+00] [-4.69018554e-02 9.98886731e-01 -5.05121931e-03 -3.00333154e-01] [-1.00753204e-01 3.00337831e-04 9.94911404e-01 -1.20976996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.30, Z:-1.21 [[ 9.93732347e-01 4.90167024e-02 1.00465844e-01 8.38505483e+00] [-4.87548542e-02 9.98797950e-01 -5.06148312e-03 -3.03817860e-01] [-1.00593176e-01 1.31561932e-04 9.94927633e-01 -1.21361865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.31, Z:-1.22 [[ 9.93631403e-01 5.07737750e-02 1.00591545e-01 8.41685586e+00] [-5.05182126e-02 9.98710180e-01 -5.08793764e-03 -3.07625617e-01] [-1.00720133e-01 -2.61704113e-05 9.94914797e-01 -1.21706302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.31, Z:-1.22 [[ 9.93536149e-01 5.36813094e-02 1.00021181e-01 8.44826766e+00] [-5.34413840e-02 9.98558074e-01 -5.07850558e-03 -3.13316680e-01] [-1.00149579e-01 -2.99591456e-04 9.94972347e-01 -1.21983219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.32, Z:-1.22 [[ 9.93405052e-01 5.53472966e-02 1.00414539e-01 8.48048574e+00] [-5.51129759e-02 9.98467058e-01 -5.10826148e-03 -3.16053065e-01] [-1.00543338e-01 -4.59571325e-04 9.94932574e-01 -1.22386628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.32, Z:-1.23 [[ 9.93328408e-01 5.65979966e-02 1.00475574e-01 8.51339423e+00] [-5.63677633e-02 9.98396888e-01 -5.13122838e-03 -3.18511599e-01] [-1.00604917e-01 -5.66588441e-04 9.94926294e-01 -1.22721419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.32, Z:-1.23 [[ 9.93149923e-01 5.86141599e-02 1.01082197e-01 8.54471668e+00] [-5.83893979e-02 9.98280427e-01 -5.18333168e-03 -3.22157924e-01] [-1.01212195e-01 -7.54303161e-04 9.94864575e-01 -1.23116449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.33, Z:-1.23 [[ 9.93100645e-01 5.90096698e-02 1.01335919e-01 8.57600573e+00] [-5.87846298e-02 9.98257103e-01 -5.20810663e-03 -3.25488824e-01] [-1.01466630e-01 -7.84820445e-04 9.94838634e-01 -1.23482046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.33, Z:-1.24 [[ 9.93120835e-01 5.87164048e-02 1.01308394e-01 8.60895418e+00] [-5.84881370e-02 9.98274432e-01 -5.22462372e-03 -3.29358208e-01] [-1.01440351e-01 -7.36656570e-04 9.94841350e-01 -1.23854550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.33, Z:-1.24 [[ 9.93212041e-01 5.72923038e-02 1.01229604e-01 8.64061643e+00] [-5.70552325e-02 9.98357282e-01 -5.23804092e-03 -3.33621688e-01] [-1.01363412e-01 -5.73193281e-04 9.94849300e-01 -1.24170179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.34, Z:-1.25 [[ 9.93286017e-01 5.66133682e-02 1.00885154e-01 8.67307044e+00] [-5.63728410e-02 9.98396059e-01 -5.23574531e-03 -3.35960714e-01] [-1.01019753e-01 -4.86590127e-04 9.94884301e-01 -1.24561068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.34, Z:-1.25 [[ 9.93331530e-01 5.56023727e-02 1.00999247e-01 8.70516539e+00] [-5.53540121e-02 9.98452925e-01 -5.26208020e-03 -3.39550053e-01] [-1.01135578e-01 -3.63723351e-04 9.94872586e-01 -1.24921667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.34, Z:-1.25 [[ 9.93251776e-01 5.56501062e-02 1.01754484e-01 8.73696732e+00] [-5.53962947e-02 9.98450270e-01 -5.32060512e-03 -3.43206312e-01] [-1.01892884e-01 -3.52120883e-04 9.94795314e-01 -1.25333462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.35, Z:-1.26 [[ 9.93272538e-01 5.58161725e-02 1.01460434e-01 8.76980150e+00] [-5.55628130e-02 9.98441001e-01 -5.32364042e-03 -3.46688642e-01] [-1.01599402e-01 -3.49601277e-04 9.94825331e-01 -1.25656156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.35, Z:-1.26 [[ 9.93279497e-01 5.60223490e-02 1.01278516e-01 8.80267321e+00] [-5.57689516e-02 9.98429454e-01 -5.33387656e-03 -3.49227058e-01] [-1.01418269e-01 -3.50166420e-04 9.94843813e-01 -1.26047540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.35, Z:-1.26 [[ 9.93280971e-01 5.70466485e-02 1.00690577e-01 8.83406988e+00] [-5.67994232e-02 9.98371420e-01 -5.32281427e-03 -3.51896835e-01] [-1.00830243e-01 -4.32116573e-04 9.94903551e-01 -1.26408077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.35, Z:-1.27 [[ 9.93219109e-01 5.79078787e-02 1.00809123e-01 8.86683739e+00] [-5.76626249e-02 9.98321805e-01 -5.34750308e-03 -3.54111659e-01] [-1.00949608e-01 -5.01676412e-04 9.94891414e-01 -1.26732620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.36, Z:-1.27 [[ 9.93166417e-01 5.85225290e-02 1.00973177e-01 8.89863712e+00] [-5.82776213e-02 9.98285939e-01 -5.37609662e-03 -3.55466533e-01] [-1.01114726e-01 -5.45117955e-04 9.94874623e-01 -1.26978693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.36, Z:-1.27 [[ 9.92847522e-01 6.01822352e-02 1.03111090e-01 8.93108321e+00] [-5.99337607e-02 9.98187154e-01 -5.50908967e-03 -3.56709142e-01] [-1.03255715e-01 -7.10149359e-04 9.94654590e-01 -1.27340405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.36, Z:-1.28 [[ 9.92749763e-01 6.03546911e-02 1.03948153e-01 8.96320714e+00] [-6.01009814e-02 9.98176739e-01 -5.57406461e-03 -3.58637710e-01] [-1.04095050e-01 -7.13734710e-04 9.94567097e-01 -1.27688087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.36, Z:-1.28 [[ 9.92751202e-01 5.98214175e-02 1.04242264e-01 8.99587589e+00] [-5.95613860e-02 9.98208889e-01 -5.60840909e-03 -3.61402176e-01] [-1.04391058e-01 -6.41058882e-04 9.94536121e-01 -1.28086733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.37, Z:-1.29 [[ 9.92959885e-01 5.67574892e-02 1.03967567e-01 9.02885212e+00] [-5.64800444e-02 9.98387950e-01 -5.61304781e-03 -3.66080714e-01] [-1.04118548e-01 -2.98561478e-04 9.94564849e-01 -1.28501557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.37, Z:-1.29 [[ 9.93062297e-01 5.49182354e-02 1.03977215e-01 9.06100362e+00] [-5.46285331e-02 9.98490851e-01 -5.63410996e-03 -3.68968479e-01] [-1.04129713e-01 -8.51005428e-05 9.94563721e-01 -1.28901143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285871560000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.37, Z:-1.29 [[ 9.93231215e-01 5.31794531e-02 1.03265187e-01 9.09415715e+00] [-5.28824092e-02 9.98584965e-01 -5.61411621e-03 -3.71518794e-01] [-1.03417618e-01 1.15203611e-04 9.94638016e-01 -1.29194561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.38, Z:-1.30 [[ 9.93445239e-01 5.01678272e-02 1.02711956e-01 9.12582528e+00] [-4.98557748e-02 9.98740702e-01 -5.60469135e-03 -3.77057929e-01] [-1.02863786e-01 4.47169778e-04 9.94695351e-01 -1.29791382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.38, Z:-1.30 [[ 9.93548916e-01 4.89832341e-02 1.02279978e-01 9.15884718e+00] [-4.86663838e-02 9.98799433e-01 -5.59242966e-03 -3.80892816e-01] [-1.02431119e-01 5.78755767e-04 9.94739931e-01 -1.30081680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.39, Z:-1.31 [[ 9.93527191e-01 4.85207297e-02 1.02710562e-01 9.19108095e+00] [-4.81966478e-02 9.98821965e-01 -5.63613415e-03 -3.85308660e-01] [-1.02863035e-01 6.49347749e-04 9.94695317e-01 -1.30604065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.39, Z:-1.31 [[ 9.93524224e-01 4.85281523e-02 1.02735751e-01 9.22423803e+00] [-4.82018482e-02 9.98821591e-01 -5.65784009e-03 -3.89449927e-01] [-1.02889251e-01 6.69148114e-04 9.94692593e-01 -1.30950824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.39, Z:-1.31 [[ 9.93517197e-01 4.90718759e-02 1.02545262e-01 9.25577057e+00] [-4.87475776e-02 9.98795050e-01 -5.66764436e-03 -3.91997754e-01] [-1.02699822e-01 6.32069019e-04 9.94712193e-01 -1.31306078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.40, Z:-1.32 [[ 9.93445080e-01 5.00684432e-02 1.02761978e-01 9.28855479e+00] [-4.97461425e-02 9.98745638e-01 -5.69839964e-03 -3.95416069e-01] [-1.02918387e-01 5.49035088e-04 9.94689652e-01 -1.31748862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.40, Z:-1.32 [[ 9.93291168e-01 5.31250430e-02 1.02715073e-01 9.32071193e+00] [-5.28173169e-02 9.98587836e-01 -5.71529937e-03 -4.01716592e-01] [-1.02873648e-01 2.51821807e-04 9.94694400e-01 -1.32105155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.41, Z:-1.32 [[ 9.93154217e-01 5.53762808e-02 1.02850224e-01 9.35219051e+00] [-5.50776880e-02 9.98465556e-01 -5.74301957e-03 -4.05613756e-01] [-1.03010433e-01 3.89515882e-05 9.94680275e-01 -1.32456490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.41, Z:-1.33 [[ 9.92823781e-01 6.00765433e-02 1.03400914e-01 9.38498708e+00] [-5.97981978e-02 9.98193680e-01 -5.79253119e-03 -4.09843105e-01] [-1.03562134e-01 -4.32225559e-04 9.94622892e-01 -1.32774762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.41, Z:-1.33 [[ 9.92642857e-01 6.25204685e-02 1.03688717e-01 9.41738831e+00] [-6.22517348e-02 9.98043458e-01 -5.82903128e-03 -4.12525585e-01] [-1.03850280e-01 -6.68656270e-04 9.94592717e-01 -1.33171931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.41, Z:-1.34 [[ 9.92544233e-01 6.47527636e-02 1.03261927e-01 9.45037332e+00] [-6.44961967e-02 9.97900951e-01 -5.82515054e-03 -4.14746937e-01] [-1.03422369e-01 -8.78281959e-04 9.94637141e-01 -1.33523599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.42, Z:-1.34 [[ 9.92300967e-01 6.79610665e-02 1.03537843e-01 9.48220504e+00] [-6.77183735e-02 9.97687258e-01 -5.86145636e-03 -4.15781567e-01] [-1.03696737e-01 -1.19508551e-03 9.94608244e-01 -1.33876891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.42, Z:-1.34 [[ 9.92127625e-01 6.90563353e-02 1.04470086e-01 9.51516411e+00] [-6.88132548e-02 9.97611912e-01 -5.93367673e-03 -4.17835701e-01] [-1.04630360e-01 -1.30196205e-03 9.94510328e-01 -1.34303774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.42, Z:-1.35 [[ 9.92048784e-01 6.98405760e-02 1.04697199e-01 9.54656576e+00] [-6.95986332e-02 9.97557229e-01 -5.96703659e-03 -4.20580849e-01] [-1.04858189e-01 -1.36719057e-03 9.94486245e-01 -1.34664812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.42, Z:-1.35 [[ 9.91978962e-01 7.05961710e-02 1.04851894e-01 9.57960087e+00] [-7.03557231e-02 9.97503952e-01 -5.99476465e-03 -4.23853092e-01] [-1.05013386e-01 -1.43025039e-03 9.94469780e-01 -1.35095614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.43, Z:-1.35 [[ 9.91956445e-01 7.08309327e-02 1.04906577e-01 9.61117905e+00] [-7.05893572e-02 9.97487303e-01 -6.01857651e-03 -4.26195400e-01] [-1.05069280e-01 -1.43512207e-03 9.94463869e-01 -1.35493883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.43, Z:-1.36 [[ 9.91913864e-01 7.11212760e-02 1.05112559e-01 9.64370370e+00] [-7.08783511e-02 9.97466622e-01 -6.04951294e-03 -4.27296575e-01] [-1.05276518e-01 -1.44960911e-03 9.94441931e-01 -1.35873682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.43, Z:-1.36 [[ 9.91866390e-01 7.15486290e-02 1.05270406e-01 9.67536948e+00] [-7.13051645e-02 9.97436020e-01 -6.07942585e-03 -4.26802904e-01] [-1.05435469e-01 -1.47634543e-03 9.94425051e-01 -1.36220499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.43, Z:-1.37 [[ 9.91803988e-01 7.16074165e-02 1.05816953e-01 9.70699699e+00] [-7.13596674e-02 9.97431810e-01 -6.13051343e-03 -4.28102376e-01] [-1.05984185e-01 -1.47079488e-03 9.94366728e-01 -1.36600436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.43, Z:-1.37 [[ 9.91785397e-01 7.15832120e-02 1.06007403e-01 9.73960681e+00] [-7.13324157e-02 9.97433575e-01 -6.16042623e-03 -4.30018015e-01] [-1.06176326e-01 -1.45194333e-03 9.94346257e-01 -1.37013334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915871560000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.43, Z:-1.37 [[ 9.91962511e-01 7.00970181e-02 1.05341278e-01 9.77215664e+00] [-6.98389011e-02 9.97539377e-01 -6.14160109e-03 -4.30165290e-01] [-1.05512581e-01 -1.26468106e-03 9.94417164e-01 -1.37241143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.43, Z:-1.38 [[ 9.92011742e-01 6.87812377e-02 1.05744242e-01 9.80370961e+00] [-6.85113465e-02 9.97631152e-01 -6.18705299e-03 -4.31896026e-01] [-1.05919303e-01 -1.10705118e-03 9.94374113e-01 -1.37858892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975871560000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.43, Z:-1.38 [[ 9.92208117e-01 6.70521810e-02 1.05009799e-01 9.83554462e+00] [-6.67750608e-02 9.97749061e-01 -6.15650493e-03 -4.33738798e-01] [-1.05186236e-01 -9.03501562e-04 9.94452130e-01 -1.38058265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005871560000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.44, Z:-1.38 [[ 9.92396217e-01 6.33944050e-02 1.05503071e-01 9.86789146e+00] [-6.30919978e-02 9.97988427e-01 -6.20477331e-03 -4.35417944e-01] [-1.05684192e-01 -4.98805988e-04 9.94399619e-01 -1.38383820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.44, Z:-1.39 [[ 9.92490426e-01 6.18516404e-02 1.05532593e-01 9.90008901e+00] [-6.15382041e-02 9.98085305e-01 -6.22684367e-03 -4.37199882e-01] [-1.05715671e-01 -3.14203531e-04 9.94396349e-01 -1.38893829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065871560000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.44, Z:-1.39 [[ 9.92651100e-01 5.98922497e-02 1.05150904e-01 9.93147965e+00] [-5.95679180e-02 9.98204844e-01 -6.22509571e-03 -4.38864557e-01] [-1.05334977e-01 -8.42723389e-05 9.94436793e-01 -1.39171067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.44, Z:-1.40 [[ 9.92821268e-01 5.68925712e-02 1.05210098e-01 9.96397331e+00] [-5.65490419e-02 9.98380274e-01 -6.24777777e-03 -4.43102172e-01] [-1.05395139e-01 2.53396399e-04 9.94430390e-01 -1.39526088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.45, Z:-1.40 [[ 9.92848642e-01 5.57570711e-02 1.05559102e-01 9.99567679e+00] [-5.54026340e-02 9.98444286e-01 -6.28935902e-03 -4.46489950e-01] [-1.05745559e-01 3.96129249e-04 9.94393142e-01 -1.40088967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.45, Z:-1.41 [[ 9.92901584e-01 5.50445771e-02 1.05435001e-01 1.00283711e+01] [-5.46849384e-02 9.98483777e-01 -6.30108836e-03 -4.50535497e-01] [-1.05621979e-01 4.90654070e-04 9.94406233e-01 -1.40508737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.45, Z:-1.41 [[ 9.92869372e-01 5.40040325e-02 1.06273113e-01 1.00614846e+01] [-5.36305113e-02 9.98540521e-01 -6.37153267e-03 -4.54575639e-01] [-1.06462098e-01 6.26618253e-04 9.94316564e-01 -1.40896105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215871560000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.46, Z:-1.41 [[ 9.92894411e-01 5.42552180e-02 1.05910618e-01 1.00931526e+01] [-5.38834590e-02 9.98526909e-01 -6.37055915e-03 -4.56540392e-01] [-1.06100238e-01 6.18462131e-04 9.94355247e-01 -1.41145203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.46, Z:-1.42 [[ 9.92802784e-01 5.53266725e-02 1.06214835e-01 1.01255758e+01] [-5.49568205e-02 9.98468169e-01 -6.40811541e-03 -4.58801899e-01] [-1.06406672e-01 5.24765184e-04 9.94322556e-01 -1.41688975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.46, Z:-1.42 [[ 9.92798148e-01 5.54122711e-02 1.06213543e-01 1.01587956e+01] [-5.50406236e-02 9.98463415e-01 -6.42946561e-03 -4.60938049e-01] [-1.06406608e-01 5.37101936e-04 9.94322556e-01 -1.42073831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305871560000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.46, Z:-1.42 [[ 9.92745926e-01 5.77460245e-02 1.05455787e-01 1.01915257e+01] [-5.73919753e-02 9.98331263e-01 -6.39141773e-03 -4.63894791e-01] [-1.05648888e-01 2.92737978e-04 9.94403453e-01 -1.42372180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.47, Z:-1.43 [[ 9.92604141e-01 5.91826209e-02 1.05992629e-01 1.02230213e+01] [-5.88308613e-02 9.98247159e-01 -6.44503951e-03 -4.66929156e-01] [-1.06188275e-01 1.61735272e-04 9.94346028e-01 -1.42885827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.47, Z:-1.43 [[ 9.92520547e-01 6.06561655e-02 1.05942402e-01 1.02554835e+01] [-6.03110358e-02 9.98158719e-01 -6.46141806e-03 -4.70312365e-01] [-1.06139257e-01 2.35942082e-05 9.94351275e-01 -1.43278817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.47, Z:-1.44 [[ 9.92482393e-01 6.19080212e-02 1.05575075e-01 1.02871890e+01] [-6.15701427e-02 9.98081855e-01 -6.45976417e-03 -4.74288249e-01] [-1.05772478e-01 -8.90702145e-05 9.94390353e-01 -1.43660447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.48, Z:-1.44 [[ 9.92359889e-01 6.38866041e-02 1.05547872e-01 1.03200883e+01] [-6.35580063e-02 9.97957125e-01 -6.47739931e-03 -4.78124980e-01] [-1.05746070e-01 -2.80501064e-04 9.94393126e-01 -1.44086634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.48, Z:-1.44 [[ 9.92344614e-01 6.51913033e-02 1.04891666e-01 1.03517067e+01] [-6.48719477e-02 9.97872706e-01 -6.45708424e-03 -4.80152450e-01] [-1.05089477e-01 -3.96873939e-04 9.94462691e-01 -1.44202920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485871560000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.48, Z:-1.45 [[ 9.92081212e-01 6.83597702e-02 1.05365131e-01 1.03846976e+01] [-6.80533464e-02 9.97660477e-01 -6.50494660e-03 -4.82711189e-01] [-1.05563304e-01 -7.17014463e-04 9.94412326e-01 -1.44641799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.49, Z:-1.45 [[ 9.91883239e-01 7.00441561e-02 1.06120010e-01 1.04162069e+01] [-6.97407054e-02 9.97543502e-01 -6.57233222e-03 -4.85122152e-01] [-1.06319680e-01 -8.81898173e-04 9.94331609e-01 -1.45212224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.49, Z:-1.46 [[ 9.91661160e-01 7.28476268e-02 1.06307888e-01 1.04477885e+01] [-7.25570918e-02 9.97342401e-01 -6.60324729e-03 -4.86915090e-01] [-1.06506395e-01 -1.16520730e-03 9.94311335e-01 -1.45595158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.49, Z:-1.46 [[ 9.91611305e-01 7.39804337e-02 1.05990166e-01 1.04802813e+01] [-7.36960711e-02 9.97258892e-01 -6.60238681e-03 -4.89514866e-01] [-1.06188083e-01 -1.26405739e-03 9.94345259e-01 -1.46014605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.49, Z:-1.46 [[ 9.91532088e-01 7.45524289e-02 1.06329932e-01 1.05126748e+01] [-7.42674249e-02 9.97216235e-01 -6.64307380e-03 -4.91977902e-01] [-1.06529191e-01 -1.31002939e-03 9.94308712e-01 -1.46384555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.49, Z:-1.47 [[ 9.91337185e-01 7.48750209e-02 1.07908840e-01 1.05444347e+01] [-7.45809885e-02 9.97192022e-01 -6.76373019e-03 -4.94313949e-01] [-1.08112269e-01 -1.34281070e-03 9.94137784e-01 -1.46792820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.50, Z:-1.47 [[ 9.91368409e-01 7.44813006e-02 1.07894453e-01 1.05760251e+01] [-7.41828329e-02 9.97221590e-01 -6.78296165e-03 -4.97011146e-01] [-1.08099881e-01 -1.27950224e-03 9.94139215e-01 -1.47185337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.50, Z:-1.48 [[ 9.91400349e-01 7.39854379e-02 1.07942124e-01 1.06085823e+01] [-7.36816120e-02 9.97258593e-01 -6.80584908e-03 -4.99907326e-01] [-1.08149744e-01 -1.20602850e-03 9.94133884e-01 -1.47520008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725871560000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.50, Z:-1.48 [[ 9.91511879e-01 7.28425853e-02 1.07694714e-01 1.06412986e+01] [-7.25312586e-02 9.97342888e-01 -6.81026844e-03 -5.02013392e-01] [-1.07904635e-01 -1.05877110e-03 9.94160686e-01 -1.47698493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755871560000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.50, Z:-1.48 [[ 9.91624865e-01 7.25242996e-02 1.06866050e-01 1.06735700e+01] [-7.22136285e-02 9.97366149e-01 -6.77906400e-03 -5.04529766e-01] [-1.07076228e-01 -9.94896833e-04 9.94250316e-01 -1.48075768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785871560000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.51, Z:-1.49 [[ 9.91767548e-01 7.19835892e-02 1.05903230e-01 1.07048116e+01] [-7.16731495e-02 9.97405405e-01 -6.73933284e-03 -5.07849109e-01] [-1.06113575e-01 -9.06566445e-04 9.94353603e-01 -1.48515025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.51, Z:-1.49 [[ 9.91826486e-01 7.08531545e-02 1.06113398e-01 1.07366572e+01] [-7.05328908e-02 9.97486462e-01 -6.77269078e-03 -5.13130161e-01] [-1.06326544e-01 -7.67150578e-04 9.94330970e-01 -1.49147046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.52, Z:-1.49 [[ 9.91836251e-01 7.06480954e-02 1.06158829e-01 1.07685056e+01] [-7.03241147e-02 9.97501039e-01 -6.79681766e-03 -5.15633436e-01] [-1.06373724e-01 -7.24195494e-04 9.94325956e-01 -1.49345697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875871560000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.52, Z:-1.50 [[ 9.91888173e-01 7.01535342e-02 1.06001573e-01 1.07998137e+01] [-6.98255955e-02 9.97535994e-01 -6.80643745e-03 -5.17322848e-01] [-1.06217880e-01 -6.50398144e-04 9.94342667e-01 -1.49829519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905871560000001 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.52, Z:-1.50 [[ 9.91974103e-01 6.96977454e-02 1.05496936e-01 1.08330026e+01] [-6.93683150e-02 9.97567987e-01 -6.79325474e-03 -5.21191332e-01] [-1.05713841e-01 -5.79411904e-04 9.94396424e-01 -1.49979461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935871560000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.52, Z:-1.51 [[ 9.91979602e-01 6.96016120e-02 1.05508696e-01 1.08648637e+01] [-6.92693178e-02 9.97574717e-01 -6.81515447e-03 -5.23206002e-01] [-1.05727153e-01 -5.48021145e-04 9.94395027e-01 -1.50629103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.53, Z:-1.51 [[ 9.91940019e-01 7.01381983e-02 1.05525503e-01 1.08974507e+01] [-6.98067550e-02 9.97537112e-01 -6.83571189e-03 -5.25508053e-01] [-1.05745050e-01 -5.85776720e-04 9.94393102e-01 -1.51031067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995871560000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.53, Z:-1.51 [[ 9.91947401e-01 7.08307667e-02 1.04992168e-01 1.09299345e+01] [-7.05043490e-02 9.97488145e-01 -6.82188301e-03 -5.28887445e-01] [-1.05211642e-01 -6.35455358e-04 9.94449650e-01 -1.51186275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.53, Z:-1.52 [[ 9.91773864e-01 7.17883450e-02 1.05976584e-01 1.09621551e+01] [-7.14589293e-02 9.97419627e-01 -6.90724134e-03 -5.34339872e-01] [-1.06198984e-01 -7.22551794e-04 9.94344635e-01 -1.51622677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.54, Z:-1.52 [[ 9.91618023e-01 7.27519336e-02 1.06774775e-01 1.09936888e+01] [-7.24207734e-02 9.97349738e-01 -6.98084081e-03 -5.37552043e-01] [-1.06999663e-01 -8.10384197e-04 9.94258727e-01 -1.51920118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085871560000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.54, Z:-1.52 [[ 9.91323930e-01 7.54907166e-02 1.07601198e-01 1.10260496e+01] [-7.51682895e-02 9.97145904e-01 -7.05507611e-03 -5.39467102e-01] [-1.07826687e-01 -1.09433224e-03 9.94169104e-01 -1.52066607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.54, Z:-1.53 [[ 9.91113068e-01 7.70926064e-02 1.08404871e-01 1.10576918e+01] [-7.67727144e-02 9.97023143e-01 -7.12765138e-03 -5.40431078e-01] [-1.08631654e-01 -1.25822776e-03 9.94081275e-01 -1.52620918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.54, Z:-1.53 [[ 9.90655883e-01 8.17039544e-02 1.09203409e-01 1.10899715e+01] [-8.14050630e-02 9.96655094e-01 -7.19993819e-03 -5.42075792e-01] [-1.09426398e-01 -1.75704928e-03 9.93993348e-01 -1.52995740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.54, Z:-1.53 [[ 9.90509971e-01 8.42431664e-02 1.08595980e-01 1.11223155e+01] [-8.39604620e-02 9.96443210e-01 -7.18126457e-03 -5.43677480e-01] [-1.08814700e-01 -2.00465450e-03 9.94060030e-01 -1.53324355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.54, Z:-1.54 [[ 9.90300253e-01 8.68995833e-02 1.08415276e-01 1.11552723e+01] [-8.66313129e-02 9.96214488e-01 -7.19098624e-03 -5.44803327e-01] [-1.08629762e-01 -2.27092219e-03 9.94079684e-01 -1.53701698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.55, Z:-1.54 [[ 9.90073522e-01 8.92863371e-02 1.08546634e-01 1.11871162e+01] [-8.90293244e-02 9.96002826e-01 -7.22148006e-03 -5.45294547e-01] [-1.08757533e-01 -2.51403726e-03 9.94065128e-01 -1.54087889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.54, Z:-1.55 [[ 9.89863580e-01 9.27182931e-02 1.07579786e-01 1.12200800e+01] [-9.24838947e-02 9.95688316e-01 -7.17683191e-03 -5.44750001e-01] [-1.07781359e-01 -2.84531302e-03 9.94170550e-01 -1.54527586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.55, Z:-1.55 [[ 9.89840766e-01 9.41358183e-02 1.06553769e-01 1.12523085e+01] [-9.39117968e-02 9.95554994e-01 -7.12935064e-03 -5.45297540e-01] [-1.06751264e-01 -2.94973397e-03 9.94281382e-01 -1.54909523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.55, Z:-1.55 [[ 9.89780554e-01 9.49937427e-02 1.06351512e-01 1.12854991e+01] [-9.47734297e-02 9.95473298e-01 -7.13517420e-03 -5.45596379e-01] [-1.06547887e-01 -3.01704085e-03 9.94302995e-01 -1.55283606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355871560000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.54, Z:-1.55 [[ 9.89753241e-01 9.50113784e-02 1.06589676e-01 1.13176582e+01] [-9.47878759e-02 9.95471653e-01 -7.17261227e-03 -5.44935496e-01] [-1.06788480e-01 -3.00429270e-03 9.94277222e-01 -1.55467098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385871560000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.55, Z:-1.56 [[ 9.89766775e-01 9.47868392e-02 1.06663890e-01 1.13503777e+01] [-9.45596043e-02 9.95493184e-01 -7.19735415e-03 -5.45912533e-01] [-1.06865390e-01 -2.96239322e-03 9.94269085e-01 -1.55840395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.54, Z:-1.56 [[ 9.89910477e-01 9.32729267e-02 1.06664932e-01 1.13820292e+01] [-9.30346814e-02 9.95636703e-01 -7.21833606e-03 -5.42899281e-01] [-1.06872797e-01 -2.77803150e-03 9.94268821e-01 -1.56397383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.54, Z:-1.57 [[ 9.89925282e-01 9.27601066e-02 1.06974289e-01 1.14145427e+01] [-9.25153938e-02 9.95684796e-01 -7.25875787e-03 -5.42676684e-01] [-1.07185996e-01 -2.71114050e-03 9.94235290e-01 -1.56796348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.54, Z:-1.57 [[ 9.89895145e-01 9.24618821e-02 1.07510013e-01 1.14478848e+01] [-9.22106633e-02 9.95712642e-01 -7.31631419e-03 -5.42867465e-01] [-1.07725559e-01 -2.67118574e-03 9.94177081e-01 -1.57010462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505871560000001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.54, Z:-1.57 [[ 9.90070372e-01 9.11019395e-02 1.07056506e-01 1.14813993e+01] [-9.08426257e-02 9.95838456e-01 -7.30663245e-03 -5.39813676e-01] [-1.07276634e-01 -2.49121384e-03 9.94226090e-01 -1.57450564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.54, Z:-1.58 [[ 9.90231996e-01 8.98108936e-02 1.06651762e-01 1.15129642e+01] [-8.95437575e-02 9.95956132e-01 -7.30055060e-03 -5.39002119e-01] [-1.06876145e-01 -2.32076071e-03 9.94269633e-01 -1.57953100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.54, Z:-1.58 [[ 9.90440768e-01 8.78649892e-02 1.06333573e-01 1.15460879e+01] [-8.75861309e-02 9.96130212e-01 -7.29868798e-03 -5.38827980e-01] [-1.06563383e-01 -2.08442808e-03 9.94303726e-01 -1.58463275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595871560000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.54, Z:-1.59 [[ 9.90634144e-01 8.60313364e-02 1.06031136e-01 1.15786087e+01] [-8.57413300e-02 9.96290694e-01 -7.29909050e-03 -5.39755442e-01] [-1.06265785e-01 -1.86052239e-03 9.94336020e-01 -1.58662817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.54, Z:-1.59 [[ 9.91180848e-01 8.08768007e-02 1.04973661e-01 1.16111936e+01] [-8.05616876e-02 9.96723290e-01 -7.24552218e-03 -5.38473747e-01] [-1.05215687e-01 -1.27523246e-03 9.94448607e-01 -1.59300263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.54, Z:-1.60 [[ 9.91393246e-01 7.82864361e-02 1.04931717e-01 1.16434007e+01] [-7.79548985e-02 9.96930427e-01 -7.26348766e-03 -5.39295537e-01] [-1.05178254e-01 -9.78968717e-04 9.94452903e-01 -1.59656816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685871560000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.54, Z:-1.60 [[ 9.91822286e-01 7.28714371e-02 1.04777412e-01 1.16767585e+01] [-7.25087145e-02 9.97341268e-01 -7.27191522e-03 -5.39137701e-01] [-1.05028752e-01 -3.84827913e-04 9.94469111e-01 -1.59872689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715871560000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.54, Z:-1.60 [[ 9.92021902e-01 7.03345231e-02 1.04621229e-01 1.17087163e+01] [-6.99566062e-02 9.97523456e-01 -7.28199243e-03 -5.40437351e-01] [-1.04874305e-01 -9.50501329e-05 9.94485481e-01 -1.60267887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745871560000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.54, Z:-1.61 [[ 9.92184744e-01 6.79555380e-02 1.04649315e-01 1.17413206e+01] [-6.75621878e-02 9.97688335e-01 -7.30320719e-03 -5.41631968e-01] [-1.04903695e-01 1.75794064e-04 9.94482370e-01 -1.60770612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.54, Z:-1.61 [[ 9.92380549e-01 6.46538329e-02 1.04884359e-01 1.17743900e+01] [-6.42381694e-02 9.97907603e-01 -7.33990834e-03 -5.43224680e-01] [-1.05139452e-01 5.46403042e-04 9.94457338e-01 -1.60977813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.55, Z:-1.61 [[ 9.92471761e-01 6.33323342e-02 1.04827568e-01 1.18061428e+01] [-6.29075244e-02 9.97992242e-01 -7.35719280e-03 -5.45197711e-01] [-1.05083047e-01 7.07363326e-04 9.94463198e-01 -1.61443024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835871560000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.55, Z:-1.62 [[ 9.92581840e-01 6.20724403e-02 1.04538523e-01 1.18375537e+01] [-6.16409328e-02 9.98071278e-01 -7.35661139e-03 -5.46830639e-01] [-1.04793540e-01 8.58186778e-04 9.94493629e-01 -1.61987803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.55, Z:-1.62 [[ 9.92523423e-01 6.07733790e-02 1.05848249e-01 1.18702291e+01] [-6.03215705e-02 9.98151062e-01 -7.46768291e-03 -5.49522243e-01] [-1.06106378e-01 1.02691759e-03 9.94354254e-01 -1.62181385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895871560000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.55, Z:-1.63 [[ 9.92438607e-01 6.06591947e-02 1.06705546e-01 1.19032808e+01] [-6.01971420e-02 9.98157964e-01 -7.54872214e-03 -5.52518973e-01] [-1.06966890e-01 1.06827440e-03 9.94262009e-01 -1.62560778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.56, Z:-1.63 [[ 9.92394193e-01 6.07072248e-02 1.07090610e-01 1.19347641e+01] [-6.02397998e-02 9.98155022e-01 -7.59724703e-03 -5.55392674e-01] [-1.07354238e-01 1.08834693e-03 9.94220239e-01 -1.63058534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.56, Z:-1.63 [[ 9.92302639e-01 6.21339488e-02 1.07120704e-01 1.19678184e+01] [-6.16732234e-02 9.98067371e-01 -7.61164246e-03 -5.59004897e-01] [-1.07386620e-01 9.46573811e-04 9.94216887e-01 -1.63211216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985871560000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.56, Z:-1.64 [[ 9.92195659e-01 6.33319342e-02 1.07409686e-01 1.19993532e+01] [-6.28734050e-02 9.97992164e-01 -7.65344948e-03 -5.61970644e-01] [-1.07678733e-01 8.40506667e-04 9.94185387e-01 -1.63540276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.56, Z:-1.64 [[ 9.92075515e-01 6.54028876e-02 1.07278306e-01 1.20310079e+01] [-6.49554237e-02 9.97858737e-01 -7.66378006e-03 -5.64881072e-01] [-1.07549828e-01 6.34740720e-04 9.94199493e-01 -1.64117194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.57, Z:-1.64 [[ 9.92038820e-01 6.70890262e-02 1.06574112e-01 1.20641965e+01] [-6.66550734e-02 9.97746883e-01 -7.63268304e-03 -5.67501899e-01] [-1.06846057e-01 4.68212617e-04 9.94275465e-01 -1.64450903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.57, Z:-1.65 [[ 9.91884869e-01 6.95015112e-02 1.06461009e-01 1.20965065e+01] [-6.90801171e-02 9.97581820e-01 -7.64525127e-03 -5.70790809e-01] [-1.06734923e-01 2.28870107e-04 9.94287485e-01 -1.64701329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.57, Z:-1.65 [[ 9.91719501e-01 7.32324278e-02 1.05496178e-01 1.21281380e+01] [-7.28375434e-02 9.97314889e-01 -7.59627983e-03 -5.73151772e-01] [-1.05769203e-01 -1.50703568e-04 9.94390694e-01 -1.65320674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135871560000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.58, Z:-1.66 [[ 9.91617414e-01 7.54008128e-02 1.04926741e-01 1.21601341e+01] [-7.50201520e-02 9.97153242e-01 -7.57553110e-03 -5.76339370e-01] [-1.05199241e-01 -3.59591517e-04 9.94451100e-01 -1.65523819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.58, Z:-1.66 [[ 9.91611113e-01 7.54856354e-02 1.04925308e-01 1.21933285e+01] [-7.51033535e-02 9.97146828e-01 -7.59532703e-03 -5.78872485e-01] [-1.05199276e-01 -3.48631818e-04 9.94451100e-01 -1.65908650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.58, Z:-1.66 [[ 9.91502073e-01 7.85636285e-02 1.03688935e-01 1.22256366e+01] [-7.82063280e-02 9.96908883e-01 -7.51326829e-03 -5.78801033e-01] [-1.03958690e-01 -6.59709811e-04 9.94581397e-01 -1.66488353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.58, Z:-1.67 [[ 9.91356989e-01 8.01854716e-02 1.03834534e-01 1.22588800e+01] [-7.98339390e-02 9.96779631e-01 -7.54384344e-03 -5.80433860e-01] [-1.04105055e-01 -8.10877894e-04 9.94565976e-01 -1.66696459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.58, Z:-1.67 [[ 9.91225572e-01 8.12517942e-02 1.04259347e-01 1.22908761e+01] [-8.09010825e-02 9.96693195e-01 -7.59537297e-03 -5.81361431e-01] [-1.04531720e-01 -9.05966151e-04 9.94521140e-01 -1.67291366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.28587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.58, Z:-1.67 [[ 9.90994810e-01 8.27724839e-02 1.05252092e-01 1.23236388e+01] [-8.24215574e-02 9.96567909e-01 -7.68693131e-03 -5.83071443e-01] [-1.05527123e-01 -1.05733228e-03 9.94415863e-01 -1.67341819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.58, Z:-1.68 [[ 9.90889668e-01 8.27823401e-02 1.06229708e-01 1.23563538e+01] [-8.24226887e-02 9.96567101e-01 -7.77904843e-03 -5.84738448e-01] [-1.06509000e-01 -1.04755947e-03 9.94311186e-01 -1.67899200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.59, Z:-1.68 [[ 9.90853177e-01 8.25790485e-02 1.06727139e-01 1.23889809e+01] [-8.22126105e-02 9.96584006e-01 -7.83617656e-03 -5.86438224e-01] [-1.07009663e-01 -1.00981624e-03 9.94257468e-01 -1.68213984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.37587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.59, Z:-1.68 [[ 9.90921319e-01 8.14977162e-02 1.06925501e-01 1.24219268e+01] [-8.11213156e-02 9.96673146e-01 -7.87224906e-03 -5.88580139e-01] [-1.07211346e-01 -8.73157890e-04 9.94235870e-01 -1.68429387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.59, Z:-1.69 [[ 9.90991207e-01 8.06469595e-02 1.06922853e-01 1.24532064e+01] [-8.02633345e-02 9.96742440e-01 -7.89343379e-03 -5.89518645e-01] [-1.07211126e-01 -7.59661205e-04 9.94235987e-01 -1.69069357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.59, Z:-1.69 [[ 9.91183567e-01 7.98960128e-02 1.05696563e-01 1.24863300e+01] [-7.95148376e-02 9.96802991e-01 -7.82224289e-03 -5.90861728e-01] [-1.05983617e-01 -6.51166460e-04 9.94367663e-01 -1.69224386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.46587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.59, Z:-1.70 [[ 9.91368972e-01 7.87878867e-02 1.04785644e-01 1.25187913e+01] [-7.84049561e-02 9.96891273e-01 -7.77507280e-03 -5.91819569e-01] [-1.05072475e-01 -5.07747866e-04 9.94464437e-01 -1.69642077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.49587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.59, Z:-1.70 [[ 9.91726083e-01 7.54629644e-02 1.03849496e-01 1.25511595e+01] [-7.50665396e-02 9.97148596e-01 -7.72602504e-03 -5.94975929e-01] [-1.04136408e-01 -1.33521762e-04 9.94563015e-01 -1.70130782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.60, Z:-1.71 [[ 9.91966094e-01 7.32409205e-02 1.03145702e-01 1.25823397e+01] [-7.28357572e-02 9.97314270e-01 -7.69410297e-03 -5.97924359e-01] [-1.03432203e-01 1.19593998e-04 9.94636499e-01 -1.70746922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.60, Z:-1.71 [[ 9.92298147e-01 6.92870444e-02 1.02682487e-01 1.26151644e+01] [-6.88624613e-02 9.97596614e-01 -7.67831248e-03 -5.99067837e-01] [-1.02967709e-01 5.48206444e-04 9.94684548e-01 -1.71063349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.60, Z:-1.71 [[ 9.92357737e-01 6.76622349e-02 1.03188878e-01 1.26474381e+01] [-6.72225951e-02 9.97708010e-01 -7.73621586e-03 -6.00634179e-01] [-1.03475819e-01 7.40469529e-04 9.94631694e-01 -1.71376530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.60, Z:-1.72 [[ 9.92418731e-01 6.59744276e-02 1.03693961e-01 1.26797645e+01] [-6.55193390e-02 9.97820872e-01 -7.79256182e-03 -6.03599239e-01] [-1.03982109e-01 9.39524507e-04 9.94578724e-01 -1.71729370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.61, Z:-1.72 [[ 9.92598183e-01 6.32370344e-02 1.03681843e-01 1.27111179e+01] [-6.27650324e-02 9.97997757e-01 -7.81198903e-03 -6.08118090e-01] [-1.03968254e-01 1.24657189e-03 9.94579835e-01 -1.71988254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.61, Z:-1.72 [[ 9.92647369e-01 6.23378630e-02 1.03755438e-01 1.27432777e+01] [-6.18582054e-02 9.98054175e-01 -7.83746469e-03 -6.11507594e-01] [-1.04042118e-01 1.36171354e-03 9.94571960e-01 -1.72348456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.62, Z:-1.73 [[ 9.92656878e-01 6.15858328e-02 1.04112960e-01 1.27757282e+01] [-6.10979256e-02 9.98100733e-01 -7.87211056e-03 -6.17057418e-01] [-1.04400032e-01 1.45321879e-03 9.94534324e-01 -1.72651733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.62, Z:-1.73 [[ 9.92520589e-01 6.21856179e-02 1.05051552e-01 1.28077344e+01] [-6.16899456e-02 9.98063586e-01 -7.96427677e-03 -6.20660162e-01] [-1.05343392e-01 1.42408413e-03 9.94434886e-01 -1.72767242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.62, Z:-1.73 [[ 9.92420405e-01 6.29570830e-02 1.05537411e-01 1.28402555e+01] [-6.24590764e-02 9.98015298e-01 -8.02056811e-03 -6.22744926e-01] [-1.05832902e-01 1.36800625e-03 9.94382987e-01 -1.73034244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.63, Z:-1.73 [[ 9.92214187e-01 6.57259502e-02 1.05788026e-01 1.28734718e+01] [-6.52389722e-02 9.97837109e-01 -8.06101054e-03 -6.25820785e-01] [-1.06089036e-01 1.09674693e-03 9.94356030e-01 -1.73365563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.63, Z:-1.74 [[ 9.92151401e-01 6.73437291e-02 1.05358526e-01 1.29048497e+01] [-6.68682618e-02 9.97729397e-01 -8.04280870e-03 -6.29355908e-01] [-1.05660932e-01 9.34542393e-04 9.94401777e-01 -1.73911594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.63, Z:-1.74 [[ 9.92086860e-01 6.93077427e-02 1.04690493e-01 1.29366058e+01] [-6.88479004e-02 9.97595058e-01 -8.00420541e-03 -6.33318189e-01] [-1.04993472e-01 7.33146340e-04 9.94472641e-01 -1.74287159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885871560000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.64, Z:-1.74 [[ 9.91878953e-01 7.34013291e-02 1.03867160e-01 1.29690969e+01] [-7.29689930e-02 9.97302434e-01 -7.96128223e-03 -6.36969166e-01] [-1.04171340e-01 3.17546209e-04 9.94559315e-01 -1.74451011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.64, Z:-1.75 [[ 9.91702340e-01 7.56438661e-02 1.03944576e-01 1.30008540e+01] [-7.52223338e-02 9.97134894e-01 -7.97515385e-03 -6.39192289e-01] [-1.04250035e-01 9.00251743e-05 9.94551116e-01 -1.75001185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.94587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.64, Z:-1.75 [[ 9.91555535e-01 7.80621763e-02 1.03556349e-01 1.30338065e+01] [-7.76549743e-02 9.96948482e-01 -7.96424910e-03 -6.41721614e-01] [-1.03862052e-01 -1.44670352e-04 9.94591702e-01 -1.75351286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.64, Z:-1.76 [[ 9.91192717e-01 8.33278730e-02 1.02924555e-01 1.30665974e+01] [-8.29518359e-02 9.96521959e-01 -7.93590657e-03 -6.44368901e-01] [-1.03227862e-01 -6.71768045e-04 9.94657508e-01 -1.75592227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00587156 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.65, Z:-1.76 [[ 9.91032014e-01 8.54994666e-02 1.02690742e-01 1.30992915e+01] [-8.51346166e-02 9.96337832e-01 -7.93861874e-03 -6.47617328e-01] [-1.02993419e-01 -8.75111613e-04 9.94681653e-01 -1.76044014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.65, Z:-1.77 [[ 9.90841149e-01 8.91592070e-02 1.01412292e-01 1.31307661e+01] [-8.88204123e-02 9.96016641e-01 -7.86033339e-03 -6.50741920e-01] [-1.01709152e-01 -1.21913984e-03 9.94813431e-01 -1.76722668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.65, Z:-1.77 [[ 9.90775813e-01 9.05061638e-02 1.00855955e-01 1.31619974e+01] [-9.01761059e-02 9.95895006e-01 -7.83624476e-03 -6.53622699e-01] [-1.01151170e-01 -1.33083551e-03 9.94870177e-01 -1.77102268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.66, Z:-1.77 [[ 9.90718723e-01 9.12046128e-02 1.00787546e-01 1.31945996e+01] [-9.08767380e-02 9.95831214e-01 -7.84932669e-03 -6.56194370e-01] [-1.01083280e-01 -1.38276853e-03 9.94877007e-01 -1.77453659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.12587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.66, Z:-1.78 [[ 9.90636931e-01 9.09036361e-02 1.01857742e-01 1.32269519e+01] [-9.05650251e-02 9.95858784e-01 -7.95350361e-03 -6.58176100e-01] [-1.02158929e-01 -1.34571452e-03 9.94767180e-01 -1.77515136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.66, Z:-1.78 [[ 9.90686716e-01 8.98251855e-02 1.02329208e-01 1.32595717e+01] [-8.94757238e-02 9.95956799e-01 -8.00937700e-03 -6.60012071e-01] [-1.02634914e-01 -1.22119655e-03 9.94718344e-01 -1.78071411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.66, Z:-1.78 [[ 9.90771702e-01 8.85408891e-02 1.02625268e-01 1.32910505e+01] [-8.81803779e-02 9.96071968e-01 -8.05332471e-03 -6.62735235e-01] [-1.02935201e-01 -1.07052870e-03 9.94687488e-01 -1.78446344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.67, Z:-1.79 [[ 9.90938114e-01 8.55331453e-02 1.03565125e-01 1.33241380e+01] [-8.51475829e-02 9.96335047e-01 -8.14642080e-03 -6.66585634e-01] [-1.03882352e-01 -7.45721166e-04 9.94589313e-01 -1.78802688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.67, Z:-1.79 [[ 9.91007260e-01 8.46820318e-02 1.03602918e-01 1.33570831e+01] [-8.42894258e-02 9.96407822e-01 -8.16971286e-03 -6.70498658e-01] [-1.03922586e-01 -6.36385729e-04 9.94585185e-01 -1.78998035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.67, Z:-1.80 [[ 9.91051862e-01 8.40829193e-02 1.03664218e-01 1.33888171e+01] [-8.36844123e-02 9.96458608e-01 -8.19526815e-03 -6.73287852e-01] [-1.03986185e-01 -5.53143412e-04 9.94578588e-01 -1.79565758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.68, Z:-1.80 [[ 9.91016081e-01 8.50364755e-02 1.03227535e-01 1.34210014e+01] [-8.46444272e-02 9.96377639e-01 -8.18051243e-03 -6.75589932e-01] [-1.03549250e-01 -6.30616233e-04 9.94624128e-01 -1.79787811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.33587156 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.68, Z:-1.80 [[ 9.90985042e-01 8.63212837e-02 1.02456244e-01 1.34533515e+01] [-8.59407556e-02 9.96267071e-01 -8.13077985e-03 -6.77114876e-01] [-1.02775642e-01 -7.47685837e-04 9.94704282e-01 -1.80137826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.68, Z:-1.81 [[ 9.90816048e-01 8.81128678e-02 1.02565497e-01 1.34845940e+01] [-8.77389647e-02 9.96110078e-01 -8.16006659e-03 -6.77753128e-01] [-1.02885532e-01 -9.13865557e-04 9.94692783e-01 -1.80631567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.68, Z:-1.81 [[ 9.90480267e-01 9.19274014e-02 1.02460691e-01 1.35174435e+01] [-9.15726538e-02 9.95764877e-01 -8.17065500e-03 -6.76563825e-01] [-1.02777864e-01 -1.28972481e-03 9.94703497e-01 -1.81019045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.68, Z:-1.81 [[ 9.90274198e-01 9.38512920e-02 1.02708069e-01 1.35501704e+01] [-9.35030204e-02 9.95585138e-01 -8.21087352e-03 -6.78005690e-01] [-1.03025228e-01 -1.47249845e-03 9.94677653e-01 -1.81389727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.68, Z:-1.82 [[ 9.90098729e-01 9.53710856e-02 1.02999337e-01 1.35820211e+01] [-9.50268743e-02 9.95440480e-01 -8.25492486e-03 -6.79893073e-01] [-1.03316991e-01 -1.61451449e-03 9.94647170e-01 -1.81758756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.68, Z:-1.82 [[ 9.89818967e-01 9.71310244e-02 1.04038339e-01 1.36145438e+01] [-9.67874637e-02 9.95269981e-01 -8.35773982e-03 -6.79287199e-01] [-1.04358032e-01 -1.79695759e-03 9.94538170e-01 -1.82087814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.68, Z:-1.82 [[ 9.89700915e-01 9.79523686e-02 1.04390767e-01 1.36476740e+01] [-9.76089114e-02 9.95189347e-01 -8.40615428e-03 -6.79345274e-01] [-1.04711982e-01 -1.86989052e-03 9.94500832e-01 -1.82422551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545871560000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.68, Z:-1.83 [[ 9.89671761e-01 9.92754273e-02 1.03412736e-01 1.36810516e+01] [-9.89435373e-02 9.95058040e-01 -8.34701151e-03 -6.77818213e-01] [-1.03730328e-01 -1.97122034e-03 9.94603506e-01 -1.82675266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.68, Z:-1.83 [[ 9.89665368e-01 9.96861092e-02 1.03078312e-01 1.37140196e+01] [-9.93564883e-02 9.95016949e-01 -8.34018962e-03 -6.78576500e-01] [-1.03396069e-01 -1.98750228e-03 9.94638277e-01 -1.83084957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.68, Z:-1.84 [[ 9.89650157e-01 9.97639681e-02 1.03149008e-01 1.37456268e+01] [-9.94321780e-02 9.95009168e-01 -8.36646345e-03 -6.79141939e-01] [-1.03468880e-01 -1.97645861e-03 9.94630728e-01 -1.83652738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.68, Z:-1.84 [[ 9.89764379e-01 9.85073790e-02 1.03260687e-01 1.37771144e+01] [-9.81660679e-02 9.95134641e-01 -8.39455925e-03 -6.78655259e-01] [-1.03585213e-01 -1.82805987e-03 9.94618903e-01 -1.84061024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.68, Z:-1.85 [[ 9.89877351e-01 9.69286376e-02 1.03670970e-01 1.38101254e+01] [-9.65739913e-02 9.95289965e-01 -8.44685596e-03 -6.80556457e-01] [-1.04001418e-01 -1.65056794e-03 9.94575779e-01 -1.84503335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.68, Z:-1.85 [[ 9.90044731e-01 9.49648234e-02 1.03889912e-01 1.38429790e+01] [-9.45957633e-02 9.95479606e-01 -8.48501988e-03 -6.81967936e-01] [-1.04226067e-01 -1.42699634e-03 9.94552608e-01 -1.84847897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.68, Z:-1.85 [[ 9.90473307e-01 8.98804694e-02 1.04327027e-01 1.38745713e+01] [-8.94779821e-02 9.95952175e-01 -8.54137365e-03 -6.81125809e-01] [-1.04672432e-01 -8.74969250e-04 9.94506368e-01 -1.85189785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.68, Z:-1.86 [[ 9.90680771e-01 8.72875287e-02 1.04558582e-01 1.39069837e+01] [-8.68668316e-02 9.96182989e-01 -8.57941510e-03 -6.82367506e-01] [-1.04908357e-01 -5.83211200e-04 9.94481723e-01 -1.85621093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.78587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.68, Z:-1.86 [[ 9.91172066e-01 8.21976703e-02 1.04026332e-01 1.39388490e+01] [-8.17512200e-02 9.96616046e-01 -8.55544457e-03 -6.84140685e-01] [-1.04377549e-01 -2.43618358e-05 9.94537745e-01 -1.85892732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.69, Z:-1.86 [[ 9.91464130e-01 7.96909396e-02 1.03190274e-01 1.39714609e+01] [-7.92362483e-02 9.96819587e-01 -8.50459428e-03 -6.86229625e-01] [-1.03539826e-01 2.55589958e-04 9.94625276e-01 -1.86405993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.69, Z:-1.87 [[ 9.91718021e-01 7.71836839e-02 1.02654988e-01 1.40041014e+01] [-7.67182030e-02 9.97016746e-01 -8.48084457e-03 -6.88598499e-01] [-1.03003325e-01 5.35100166e-04 9.94680868e-01 -1.86860701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.87587156 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.69, Z:-1.87 [[ 9.92138213e-01 7.17878417e-02 1.02509865e-01 1.40363827e+01] [-7.12942223e-02 9.97419317e-01 -8.47584565e-03 -6.92667867e-01] [-1.02853782e-01 1.10084929e-03 9.94695877e-01 -1.87110321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.70, Z:-1.88 [[ 9.92251029e-01 6.97554756e-02 1.02820563e-01 1.40675703e+01] [-6.92458737e-02 9.97563226e-01 -8.52171792e-03 -6.95621793e-01] [-1.03164449e-01 1.33578367e-03 9.94663417e-01 -1.87554270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.70, Z:-1.88 [[ 9.92311593e-01 6.81997667e-02 1.03278722e-01 1.41003893e+01] [-6.76752599e-02 9.97670523e-01 -8.57826225e-03 -6.98743307e-01] [-1.03623172e-01 1.52289475e-03 9.94615463e-01 -1.87762265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.70, Z:-1.88 [[ 9.92326394e-01 6.57023880e-02 1.04745038e-01 1.41324022e+01] [-6.51468246e-02 9.97837587e-01 -8.72020992e-03 -7.01968350e-01] [-1.05091475e-01 1.82948783e-03 9.94460877e-01 -1.88186599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.71, Z:-1.89 [[ 9.92317158e-01 6.49448055e-02 1.05303514e-01 1.41650602e+01] [-6.43770785e-02 9.97886975e-01 -8.78504259e-03 -7.06141472e-01] [-1.05651548e-01 1.93841588e-03 9.94401324e-01 -1.88527097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.71, Z:-1.89 [[ 9.92341226e-01 6.37178423e-02 1.05824982e-01 1.41969209e+01] [-6.31351954e-02 9.97965742e-01 -8.85014516e-03 -7.11015253e-01] [-1.06173619e-01 2.10108299e-03 9.94345387e-01 -1.88777368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.05587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.71, Z:-1.89 [[ 9.92336042e-01 6.38003723e-02 1.05823875e-01 1.42300874e+01] [-6.32167840e-02 9.97960460e-01 -8.86336524e-03 -7.13921766e-01] [-1.06173529e-01 2.10559175e-03 9.94345387e-01 -1.89162221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.72, Z:-1.90 [[ 9.92367195e-01 6.32364351e-02 1.05870216e-01 1.42624606e+01] [-6.26483036e-02 9.97996204e-01 -8.87502527e-03 -7.17498957e-01] [-1.06219299e-01 2.17469449e-03 9.94340350e-01 -1.89601308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.72, Z:-1.90 [[ 9.92316268e-01 6.31075277e-02 1.06423041e-01 1.42943901e+01] [-6.25101391e-02 9.98004260e-01 -8.94311480e-03 -7.22222765e-01] [-1.06775026e-01 2.22187920e-03 9.94280723e-01 -1.89997868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.73, Z:-1.90 [[ 9.92268154e-01 6.27849789e-02 1.07060529e-01 1.43271699e+01] [-6.21771351e-02 9.98024466e-01 -9.00942598e-03 -7.27716343e-01] [-1.07414684e-01 2.28304949e-03 9.94211684e-01 -1.90244372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.17587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.73, Z:-1.91 [[ 9.92390390e-01 6.20813738e-02 1.06335396e-01 1.43588000e+01] [-6.14755521e-02 9.98068293e-01 -8.96882505e-03 -7.34906604e-01] [-1.06686785e-01 2.36354858e-03 9.94289869e-01 -1.90672467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.74, Z:-1.91 [[ 9.92474686e-01 6.18756432e-02 1.05666467e-01 1.43915921e+01] [-6.12742983e-02 9.98081007e-01 -8.93106680e-03 -7.39506661e-01] [-1.06016309e-01 2.38921912e-03 9.94361521e-01 -1.90985126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.74, Z:-1.91 [[ 9.92531086e-01 6.21685382e-02 1.04962448e-01 1.44235399e+01] [-6.15747201e-02 9.98062870e-01 -8.89161656e-03 -7.44775534e-01] [-1.05311901e-01 2.36217250e-03 9.94436435e-01 -1.91474835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.75, Z:-1.92 [[ 9.92570503e-01 6.24034642e-02 1.04449051e-01 1.44546020e+01] [-6.18146427e-02 9.98048248e-01 -8.86821987e-03 -7.53709679e-01] [-1.04798600e-01 2.34585271e-03 9.94490699e-01 -1.91847004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295871560000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.76, Z:-1.92 [[ 9.92513063e-01 6.32769358e-02 1.04469370e-01 1.44855458e+01] [-6.26907435e-02 9.97993419e-01 -8.88857383e-03 -7.59251248e-01] [-1.04822185e-01 2.27276318e-03 9.94488383e-01 -1.92247779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.76, Z:-1.93 [[ 9.92457439e-01 6.44005148e-02 1.04311097e-01 1.45182733e+01] [-6.38203619e-02 9.97921775e-01 -8.89342624e-03 -7.64614338e-01] [-1.04667057e-01 2.16917505e-03 9.94504953e-01 -1.92759139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.35587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.77, Z:-1.93 [[ 9.92212413e-01 6.77700268e-02 1.04507179e-01 1.45503679e+01] [-6.72041509e-02 9.97699276e-01 -8.93062082e-03 -7.73042878e-01] [-1.04871965e-01 1.83775663e-03 9.94484034e-01 -1.92984693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.78, Z:-1.93 [[ 9.92068229e-01 6.99684416e-02 1.04427226e-01 1.45817846e+01] [-6.94133790e-02 9.97547882e-01 -8.94462877e-03 -7.77554218e-01] [-1.04797000e-01 1.62503538e-03 9.94492307e-01 -1.93474274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.78, Z:-1.94 [[ 9.91625758e-01 7.60649825e-02 1.04367020e-01 1.46138688e+01] [-7.55421734e-02 9.97102361e-01 -8.95885246e-03 -7.82171832e-01] [-1.04746057e-01 9.99717308e-04 9.94498499e-01 -1.93616519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.44587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.79, Z:-1.94 [[ 9.91278616e-01 7.99163265e-02 1.04785907e-01 1.46461992e+01] [-7.94087431e-02 9.96801386e-01 -9.01376975e-03 -7.86199969e-01] [-1.05171085e-01 6.14240001e-04 9.94453953e-01 -1.94026440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.79, Z:-1.94 [[ 9.90878063e-01 8.41578693e-02 1.05252635e-01 1.46782673e+01] [-8.36675046e-02 9.96452417e-01 -9.07357190e-03 -7.90290272e-01] [-1.05642855e-01 1.84578059e-04 9.94404120e-01 -1.94415339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.79, Z:-1.95 [[ 9.90092243e-01 9.32889186e-02 1.04950120e-01 1.47084402e+01] [-9.29127658e-02 9.95638155e-01 -8.47829617e-03 -7.94837612e-01] [-1.05283275e-01 -1.35691063e-03 9.94441346e-01 -1.94801804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.53587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.80, Z:-1.95 [[ 9.89743686e-01 9.73169349e-02 1.04579394e-01 1.47408729e+01] [-9.68526609e-02 9.95253192e-01 -9.52080949e-03 -7.97261468e-01] [-1.05009512e-01 -7.05631487e-04 9.94470967e-01 -1.95225453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.80, Z:-1.96 [[ 9.89055350e-01 1.04661022e-01 1.03998007e-01 1.47735653e+01] [-1.04289241e-01 9.94506094e-01 -9.02125797e-03 -7.99447908e-01] [-1.04370825e-01 -1.92334971e-03 9.94536591e-01 -1.95826468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.80, Z:-1.96 [[ 9.88809938e-01 1.07620990e-01 1.03308419e-01 1.48058429e+01] [-1.07268078e-01 9.94189560e-01 -8.98206688e-03 -8.01451395e-01] [-1.03674810e-01 -2.20013852e-03 9.94608814e-01 -1.96235992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.80, Z:-1.97 [[ 9.88550132e-01 1.09902617e-01 1.03392709e-01 1.48366284e+01] [-1.09737486e-01 9.93933787e-01 -7.30146032e-03 -8.03844353e-01] [-1.03567956e-01 -4.12819636e-03 9.94613813e-01 -1.96675345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.80, Z:-1.97 [[ 9.88401952e-01 1.12226418e-01 1.02307445e-01 1.48692858e+01] [-1.11730279e-01 9.93682189e-01 -1.05854235e-02 -8.03369331e-01] [-1.02849050e-01 -9.68186070e-04 9.94696504e-01 -1.96822728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.80, Z:-1.97 [[ 9.88036050e-01 1.14617216e-01 1.03187488e-01 1.49019713e+01] [-1.14298517e-01 9.93405538e-01 -9.01583645e-03 -8.04038041e-01] [-1.03540392e-01 -2.88620547e-03 9.94621062e-01 -1.97372233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.81, Z:-1.98 [[ 9.87904489e-01 1.15370188e-01 1.03607142e-01 1.49337905e+01] [-1.15050784e-01 9.93318168e-01 -9.07387595e-03 -8.06387302e-01] [-1.03961712e-01 -2.95596013e-03 9.94576907e-01 -1.97674934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.81, Z:-1.98 [[ 9.87711493e-01 1.16205634e-01 1.04509607e-01 1.49637861e+01] [-1.15913330e-01 9.93219573e-01 -8.88704857e-03 -8.08758295e-01] [-1.04833712e-01 -3.33621652e-03 9.94484169e-01 -1.97993489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.81, Z:-1.98 [[ 9.87660475e-01 1.14788121e-01 1.06538602e-01 1.49964821e+01] [-1.14694005e-01 9.93375989e-01 -7.03057395e-03 -8.09573941e-01] [-1.06639915e-01 -5.27551895e-03 9.94283711e-01 -1.98359062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.80587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.81, Z:-1.99 [[ 9.87815686e-01 1.14383461e-01 1.05530066e-01 1.50285152e+01] [-1.13798290e-01 9.93436504e-01 -1.15698798e-02 -8.08520215e-01] [-1.06160822e-01 -5.80232237e-04 9.94348804e-01 -1.98526858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.81, Z:-1.99 [[ 9.87882626e-01 1.13137576e-01 1.06244090e-01 1.50605860e+01] [-1.12889976e-01 9.93572315e-01 -8.36110287e-03 -8.11355883e-01] [-1.06507142e-01 -3.73410451e-03 9.94304926e-01 -1.99072296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.81, Z:-1.99 [[ 9.88259046e-01 1.10701705e-01 1.05305228e-01 1.50935746e+01] [-1.10238847e-01 9.93852538e-01 -1.02239238e-02 -8.08777343e-01] [-1.05789674e-01 -1.50484179e-03 9.94387389e-01 -1.99290537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.81, Z:-2.00 [[ 9.88424690e-01 1.09228979e-01 1.05288472e-01 1.51257199e+01] [-1.08854637e-01 9.94014054e-01 -9.31279757e-03 -8.09952092e-01] [-1.05675448e-01 -2.25613930e-03 9.94398114e-01 -1.99833830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.81, Z:-2.00 [[ 9.88888119e-01 1.05486997e-01 1.04751041e-01 1.51577478e+01] [-1.05093290e-01 9.94419007e-01 -9.28648603e-03 -8.09675213e-01] [-1.05146030e-01 -1.82533581e-03 9.94455117e-01 -2.00253051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.81, Z:-2.00 [[ 9.89159256e-01 1.03262391e-01 1.04407108e-01 1.51904253e+01] [-1.02856847e-01 9.94652921e-01 -9.27557269e-03 -8.11056148e-01] [-1.04806652e-01 -1.56396735e-03 9.94491387e-01 -2.00492284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.81, Z:-2.01 [[ 9.89362258e-01 1.00951055e-01 1.04743532e-01 1.52224116e+01] [-1.00527749e-01 9.94890541e-01 -9.32648905e-03 -8.11856470e-01] [-1.05149868e-01 -1.30235516e-03 9.94455534e-01 -2.00843135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.81, Z:-2.01 [[ 9.89626790e-01 9.84466022e-02 1.04628311e-01 1.52553376e+01] [-9.80082350e-02 9.95141816e-01 -9.33548119e-03 -8.12947108e-01] [-1.05039054e-01 -1.01579378e-03 9.94467579e-01 -2.01183604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045871560000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.81, Z:-2.02 [[ 9.90181298e-01 9.31273075e-02 1.04251149e-01 1.52882550e+01] [-9.26605793e-02 9.95654117e-01 -9.32185799e-03 -8.12290916e-01] [-1.04666206e-01 -4.29642455e-04 9.94507316e-01 -2.01561326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.81, Z:-2.02 [[ 9.90434689e-01 9.01902461e-02 1.04426275e-01 1.53213763e+01] [-8.97035256e-02 9.95924550e-01 -9.35776829e-03 -8.14163667e-01] [-1.04844670e-01 -9.91467023e-05 9.94488605e-01 -2.02078706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.10587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.82, Z:-2.02 [[ 9.90941097e-01 8.44537761e-02 1.04418877e-01 1.53527807e+01] [-8.39330639e-02 9.96427257e-01 -9.37878463e-03 -8.16729830e-01] [-1.04837889e-01 5.29626870e-04 9.94489184e-01 -2.02446957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.82, Z:-2.03 [[ 9.91218819e-01 8.16124286e-02 1.04041649e-01 1.53856003e+01] [-8.10777960e-02 9.96663782e-01 -9.36465927e-03 -8.19864764e-01] [-1.04458816e-01 8.46958933e-04 9.94528853e-01 -2.02775757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.83, Z:-2.03 [[ 9.91331204e-01 7.77374676e-02 1.05921344e-01 1.54157553e+01] [-7.78089673e-02 9.96962270e-01 -3.46355986e-03 -8.26105526e-01] [-1.05868832e-01 -4.80809540e-03 9.94368479e-01 -2.03367057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.19587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.82, Z:-2.03 [[ 9.91881257e-01 7.20974324e-02 1.04754624e-01 1.54495419e+01] [-7.08590576e-02 9.97365895e-01 -1.55004995e-02 -8.24371054e-01] [-1.05596236e-01 7.95184101e-03 9.94377294e-01 -2.03445939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.83, Z:-2.04 [[ 9.92017352e-01 6.81243903e-02 1.06116166e-01 1.54804340e+01] [-6.74859812e-02 9.97674040e-01 -9.59958683e-03 -8.32434631e-01] [-1.06523310e-01 2.36160314e-03 9.94307401e-01 -2.03889165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.84, Z:-2.04 [[ 9.92337066e-01 6.21521952e-02 1.06790697e-01 1.55125062e+01] [-6.14690255e-02 9.98062049e-01 -9.68019595e-03 -8.39017908e-01] [-1.07185387e-01 3.04169718e-03 9.94234399e-01 -2.04226238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.28587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.84, Z:-2.05 [[ 9.92447470e-01 6.04103026e-02 1.06764294e-01 1.55451654e+01] [-5.97151722e-02 9.98168339e-01 -9.69874696e-03 -8.44246071e-01] [-1.07154642e-01 3.25004871e-03 9.94237054e-01 -2.04635430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31587156 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.85, Z:-2.05 [[ 9.92523010e-01 5.96328520e-02 1.06498818e-01 1.55765363e+01] [-5.89344901e-02 9.98214768e-01 -9.69547010e-03 -8.49290650e-01] [-1.06886862e-01 3.34652361e-03 9.94265558e-01 -2.05024103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.86, Z:-2.05 [[ 9.92539719e-01 6.12955710e-02 1.05393351e-01 1.56093516e+01] [-6.06190214e-02 9.98114678e-01 -9.61372482e-03 -8.55933848e-01] [-1.05783929e-01 3.15316196e-03 9.94384140e-01 -2.05405129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.37587156 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.86, Z:-2.06 [[ 9.92376761e-01 6.33819236e-02 1.05693407e-01 1.56413195e+01] [-6.27110817e-02 9.97984955e-01 -9.66177619e-03 -8.60176375e-01] [-1.06092812e-01 2.95997429e-03 9.94351826e-01 -2.05802963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.86, Z:-2.06 [[ 9.92237216e-01 6.60969670e-02 1.05339921e-01 1.56742318e+01] [-6.54437976e-02 9.97809605e-01 -9.64892496e-03 -8.64400293e-01] [-1.05746950e-01 2.68017797e-03 9.94389461e-01 -2.06140940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.87, Z:-2.07 [[ 9.91887152e-01 7.18761144e-02 1.04850858e-01 1.57065560e+01] [-7.12598041e-02 9.97411424e-01 -9.61721786e-03 -8.70365015e-01] [-1.05270692e-01 2.06754322e-03 9.94441455e-01 -2.06560662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.46587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.88, Z:-2.07 [[ 9.91702206e-01 7.49127637e-02 1.04473983e-01 1.57381190e+01] [-7.43155100e-02 9.97188539e-01 -9.60329232e-03 -8.75472752e-01] [-1.04899667e-01 1.75956889e-03 9.94481254e-01 -2.06919312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.88, Z:-2.07 [[ 9.91543685e-01 7.72530464e-02 1.04274097e-01 1.57695937e+01] [-7.66689012e-02 9.97010346e-01 -9.60470252e-03 -8.79952042e-01] [-1.04704346e-01 1.52890171e-03 9.94502218e-01 -2.07315881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.89, Z:-2.08 [[ 9.91248635e-01 7.93979291e-02 1.05461430e-01 1.58007848e+01] [-7.90261056e-02 9.96842759e-01 -7.70643235e-03 -8.85618477e-01] [-1.05740337e-01 -6.95215542e-04 9.94393533e-01 -2.07706477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.55587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.89, Z:-2.08 [[ 9.91117898e-01 8.18171159e-02 1.04839271e-01 1.58335156e+01] [-8.10556876e-02 9.96643111e-01 -1.15102118e-02 -8.89166255e-01] [-1.05429070e-01 2.91015769e-03 9.94422567e-01 -2.08050825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.89, Z:-2.08 [[ 9.91011188e-01 8.27512088e-02 1.05114522e-01 1.58660353e+01] [-8.21838115e-02 9.96569736e-01 -9.72533242e-03 -8.94906682e-01] [-1.05558734e-01 9.99201206e-04 9.94412568e-01 -2.08455281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.90, Z:-2.09 [[ 9.90836636e-01 8.40103824e-02 1.05759240e-01 1.58986770e+01] [-8.34409083e-02 9.96464481e-01 -9.80579272e-03 -8.99648824e-01] [-1.06209114e-01 8.91291637e-04 9.94343416e-01 -2.08801907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.91, Z:-2.09 [[ 9.90567227e-01 8.76747755e-02 1.05307660e-01 1.59311075e+01] [-8.71286229e-02 9.96149018e-01 -9.78450415e-03 -9.06116440e-01] [-1.05759977e-01 5.16897712e-04 9.94391553e-01 -2.09210021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.91, Z:-2.10 [[ 9.90343382e-01 9.02647233e-02 1.05224834e-01 1.59624681e+01] [-8.97317404e-02 9.95917773e-01 -9.79813313e-03 -9.09833500e-01] [-1.05679709e-01 2.61508778e-04 9.94400186e-01 -2.09527479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.91, Z:-2.10 [[ 9.89942093e-01 9.61033679e-02 1.03820975e-01 1.59947014e+01] [-9.56145489e-02 9.95371302e-01 -9.68655649e-03 -9.13413299e-01] [-1.04271329e-01 -3.37665642e-04 9.94548830e-01 -2.09961129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73587156 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.92, Z:-2.10 [[ 9.89728104e-01 9.90232163e-02 1.03114902e-01 1.60265016e+01] [-9.85546834e-02 9.95084930e-01 -9.64138360e-03 -9.16465916e-01] [-1.03562806e-01 -6.20108250e-04 9.94622723e-01 -2.10386942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.92, Z:-2.11 [[ 9.89557989e-01 1.01656904e-01 1.02180527e-01 1.60593328e+01] [-1.01208728e-01 9.94819140e-01 -9.57451069e-03 -9.19724288e-01] [-1.02624459e-01 -8.67027615e-04 9.94719794e-01 -2.10866546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.92, Z:-2.11 [[ 9.89360482e-01 1.03781144e-01 1.01957397e-01 1.60922409e+01] [-1.03344128e-01 9.94599588e-01 -9.57347597e-03 -9.22875433e-01] [-1.02400331e-01 -1.06507943e-03 9.94742699e-01 -2.11249887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.92, Z:-2.12 [[ 9.89059335e-01 1.06377154e-01 1.02203386e-01 1.61243854e+01] [-1.05949763e-01 9.94324980e-01 -9.61669570e-03 -9.24823396e-01] [-1.02646377e-01 -1.31694193e-03 9.94717039e-01 -2.11655807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.93, Z:-2.12 [[ 9.89011168e-01 1.06538467e-01 1.02501051e-01 1.61565729e+01] [-1.06107510e-01 9.94307707e-01 -9.66338196e-03 -9.27832832e-01] [-1.02947107e-01 -1.31893858e-03 9.94685957e-01 -2.12040745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.93, Z:-2.12 [[ 9.88978120e-01 1.06256347e-01 1.03110943e-01 1.61891400e+01] [-1.05816651e-01 9.94337949e-01 -9.74062759e-03 -9.31209826e-01] [-1.03562127e-01 -1.27758704e-03 9.94622166e-01 -2.12391282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.93, Z:-2.13 [[ 9.89216321e-01 1.03860331e-01 1.03267141e-01 1.62210407e+01] [-1.02920895e-01 9.94585321e-01 -1.43988830e-02 -9.32418875e-01] [-1.04203455e-01 3.61526351e-03 9.94549431e-01 -2.12600154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.94, Z:-2.13 [[ 9.89217385e-01 1.03468216e-01 1.03649859e-01 1.62539343e+01] [-1.03009988e-01 9.94632254e-01 -9.77862819e-03 -9.38359300e-01] [-1.04105270e-01 -1.00378170e-03 9.94565777e-01 -2.13006762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.94, Z:-2.13 [[ 9.89253699e-01 1.00881478e-01 1.05830274e-01 1.62864305e+01] [-1.00877488e-01 9.94884176e-01 -5.40448419e-03 -9.44449640e-01] [-1.05834077e-01 -5.32948618e-03 9.94369521e-01 -2.13462602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.95, Z:-2.14 [[ 9.89628262e-01 9.63906842e-02 1.06511686e-01 1.63180520e+01] [-9.58574452e-02 9.95343559e-01 -1.01266807e-02 -9.46013376e-01] [-1.06991838e-01 -1.88288683e-04 9.94259881e-01 -2.13780291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.03587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.95, Z:-2.14 [[ 9.89863914e-01 9.36460247e-02 1.06770097e-01 1.63504084e+01] [-9.30921424e-02 9.95605547e-01 -1.01709119e-02 -9.51041804e-01] [-1.07253366e-01 1.28361555e-04 9.94231713e-01 -2.14141755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.96, Z:-2.14 [[ 9.90341744e-01 8.85863045e-02 1.06656914e-01 1.63827611e+01] [-8.80020646e-02 9.96068261e-01 -1.01811323e-02 -9.57849200e-01] [-1.07139476e-01 6.96771725e-04 9.94243756e-01 -2.14495712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.96, Z:-2.15 [[ 9.90539216e-01 8.66799560e-02 1.06389128e-01 1.64154147e+01] [-8.60854363e-02 9.96235783e-01 -1.01765411e-02 -9.62508174e-01] [-1.06870758e-01 9.21708499e-04 9.94272494e-01 -2.14913997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.12587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.97, Z:-2.15 [[ 9.90722322e-01 8.53446750e-02 1.05761846e-01 1.64481032e+01] [-8.47473718e-02 9.96350902e-01 -1.01372184e-02 -9.66875208e-01] [-1.06241069e-01 1.08013003e-03 9.94339815e-01 -2.15303215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.97, Z:-2.16 [[ 9.90858064e-01 8.46325136e-02 1.05060151e-01 1.64809803e+01] [-8.40369923e-02 9.96411547e-01 -1.00902411e-02 -9.72012730e-01] [-1.05537110e-01 1.16905768e-03 9.94414678e-01 -2.15685072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.98, Z:-2.16 [[ 9.90900826e-01 8.46786474e-02 1.04618731e-01 1.65120439e+01] [-8.40861156e-02 9.96407614e-01 -1.00693969e-02 -9.79243284e-01] [-1.05095563e-01 1.18079098e-03 9.94461426e-01 -2.16052072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.21587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.98, Z:-2.16 [[ 9.90827062e-01 8.52247973e-02 1.04873575e-01 1.65448675e+01] [-8.46052761e-02 9.96360790e-01 -1.03500728e-02 -9.84439050e-01] [-1.05374001e-01 1.38227450e-03 9.94431702e-01 -2.16444380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.99, Z:-2.17 [[ 9.90565973e-01 8.76401910e-02 1.05348232e-01 1.65751682e+01] [-8.70702547e-02 9.96151922e-01 -1.00059882e-02 -9.91848105e-01] [-1.05819770e-01 7.38894038e-04 9.94385051e-01 -2.16827850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.27587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.00, Z:-2.17 [[ 9.90473889e-01 8.91394227e-02 1.04955415e-01 1.66074322e+01] [-8.85640589e-02 9.96018878e-01 -1.01391622e-02 -9.96232379e-01] [-1.05441374e-01 7.47297810e-04 9.94425240e-01 -2.17128821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.30587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.00, Z:-2.18 [[ 9.90348077e-01 9.15908685e-02 1.04027879e-01 1.66399146e+01] [-9.10384078e-02 9.95796603e-01 -1.00565695e-02 -9.99783973e-01] [-1.04511699e-01 4.88971760e-04 9.94523537e-01 -2.17543719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.33587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.00, Z:-2.18 [[ 9.89972138e-01 9.62178093e-02 1.03427750e-01 1.66723614e+01] [-9.56947771e-02 9.95360303e-01 -1.00188270e-02 -1.00294773e+00] [-1.03911866e-01 2.08641083e-05 9.94586509e-01 -2.17920035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.01, Z:-2.18 [[ 9.89741517e-01 9.91535738e-02 1.02860575e-01 1.67050088e+01] [-9.86507221e-02 9.95072105e-01 -9.97700106e-03 -1.00760801e+00] [-1.03342944e-01 -2.72617837e-04 9.94645747e-01 -2.18414316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.39587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.01, Z:-2.19 [[ 9.89531081e-01 1.01564724e-01 1.02532178e-01 1.67373753e+01] [-1.01075901e-01 9.94828807e-01 -9.96534095e-03 -1.01275287e+00] [-1.03014091e-01 -5.02517619e-04 9.94679770e-01 -2.18722011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.02, Z:-2.19 [[ 9.89271708e-01 1.03961268e-01 1.02633049e-01 1.67699072e+01] [-1.03482235e-01 9.94581077e-01 -9.99544361e-03 -1.01723076e+00] [-1.03116028e-01 -7.32487715e-04 9.94669065e-01 -2.19188757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.02, Z:-2.19 [[ 9.88586152e-01 1.08412747e-01 1.04614037e-01 1.68030986e+01] [-1.07937578e-01 9.94105246e-01 -1.02097720e-02 -1.02150240e+00] [-1.05104232e-01 -1.19854652e-03 9.94460489e-01 -2.19347276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.02, Z:-2.20 [[ 9.88256107e-01 1.10604591e-01 1.05434771e-01 1.68343687e+01] [-1.10132060e-01 9.93863474e-01 -1.03114220e-02 -1.02471756e+00] [-1.05928258e-01 -1.42142274e-03 9.94372759e-01 -2.19692858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.03, Z:-2.20 [[ 9.87818684e-01 1.13253909e-01 1.06713638e-01 1.68658002e+01] [-1.12783028e-01 9.93564614e-01 -1.04569094e-02 -1.02824902e+00] [-1.07211180e-01 -1.70595674e-03 9.94234808e-01 -2.20026213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.03, Z:-2.20 [[ 9.87740676e-01 1.14115429e-01 1.06517725e-01 1.68986802e+01] [-1.13649142e-01 9.93465910e-01 -1.04574904e-02 -1.03196108e+00] [-1.07015089e-01 -1.77635937e-03 9.94255810e-01 -2.20418263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.04, Z:-2.21 [[ 9.87725918e-01 1.15024390e-01 1.05673557e-01 1.69314088e+01] [-1.14568522e-01 9.93360964e-01 -1.03946548e-02 -1.03536347e+00] [-1.06167625e-01 -1.83979327e-03 9.94346544e-01 -2.20787591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.04, Z:-2.21 [[ 9.87486752e-01 1.16816480e-01 1.05942551e-01 1.69643474e+01] [-1.16366394e-01 9.93151469e-01 -1.04413813e-02 -1.03840095e+00] [-1.06436726e-01 -2.01742690e-03 9.94317431e-01 -2.21211090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635871560000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.04, Z:-2.22 [[ 9.87307801e-01 1.17757315e-01 1.06566979e-01 1.69967016e+01] [-1.17305169e-01 9.93040159e-01 -1.05232869e-02 -1.04119840e+00] [-1.07064484e-01 -2.11113416e-03 9.94249838e-01 -2.21514818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.04, Z:-2.22 [[ 9.86884252e-01 1.20636046e-01 1.07267973e-01 1.70293065e+01] [-1.20192561e-01 9.92693858e-01 -1.06137607e-02 -1.04295635e+00] [-1.07764660e-01 -2.41825907e-03 9.94173491e-01 -2.21850314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.04, Z:-2.22 [[ 9.86717064e-01 1.22040558e-01 1.07217243e-01 1.70613688e+01] [-1.21603384e-01 9.92521842e-01 -1.06306183e-02 -1.04483895e+00] [-1.07712822e-01 -2.54856706e-03 9.94178783e-01 -2.22210735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.04, Z:-2.23 [[ 9.86425015e-01 1.24880457e-01 1.06632830e-01 1.70932731e+01] [-1.24463206e-01 9.92167759e-01 -1.05853279e-02 -1.04482611e+00] [-1.07119557e-01 -2.83023163e-03 9.94242119e-01 -2.22644436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.04, Z:-2.23 [[ 9.86460978e-01 1.27309902e-01 1.03377595e-01 1.71259163e+01] [-1.26929160e-01 9.91858511e-01 -1.02802376e-02 -1.04339368e+00] [-1.03844724e-01 -2.98057814e-03 9.94589056e-01 -2.23127558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.04, Z:-2.24 [[ 9.86468550e-01 1.28049580e-01 1.02387033e-01 1.71580398e+01] [-1.27677932e-01 9.91763206e-01 -1.02024417e-02 -1.04259515e+00] [-1.02850111e-01 -3.00817684e-03 9.94692317e-01 -2.23619276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.04, Z:-2.24 [[ 9.86501308e-01 1.27678015e-01 1.02535331e-01 1.71906485e+01] [-1.27301288e-01 9.91811270e-01 -1.02365411e-02 -1.04412718e+00] [-1.03002678e-01 -2.95451854e-03 9.94676691e-01 -2.24028634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.05, Z:-2.24 [[ 9.86598655e-01 1.26809123e-01 1.02676874e-01 1.72230184e+01] [-1.26424444e-01 9.91923054e-01 -1.02720857e-02 -1.04500473e+00] [-1.03150152e-01 -2.84644074e-03 9.94661723e-01 -2.24352180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.05, Z:-2.25 [[ 9.86588009e-01 1.26892984e-01 1.02675562e-01 1.72561293e+01] [-1.26507396e-01 9.91912342e-01 -1.02851778e-02 -1.04845400e+00] [-1.03150274e-01 -2.84198495e-03 9.94661723e-01 -2.24737320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.05, Z:-2.25 [[ 9.86695083e-01 1.25959645e-01 1.02795822e-01 1.72887721e+01] [-1.25567333e-01 9.92031582e-01 -1.03046649e-02 -1.04921115e+00] [-1.03274673e-01 -2.74023494e-03 9.94649100e-01 -2.25085828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.05, Z:-2.25 [[ 9.86861464e-01 1.24260230e-01 1.03265904e-01 1.73203350e+01] [-1.23852899e-01 9.92246378e-01 -1.03723517e-02 -1.04974035e+00] [-1.03754090e-01 -2.55370739e-03 9.94599702e-01 -2.25396590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.05, Z:-2.26 [[ 9.87504195e-01 1.18562228e-01 1.03819380e-01 1.73526456e+01] [-1.18117079e-01 9.92944717e-01 -1.04472518e-02 -1.04978895e+00] [-1.04325554e-01 -1.94613689e-03 9.94541297e-01 -2.25822501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.99587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.05, Z:-2.26 [[ 9.87982429e-01 1.14744733e-01 1.03558520e-01 1.73855939e+01] [-1.14278974e-01 9.93393846e-01 -1.04394413e-02 -1.05248956e+00] [-1.04072268e-01 -1.52057693e-03 9.94568575e-01 -2.26074387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.05, Z:-2.26 [[ 9.88463000e-01 1.10363192e-01 1.03734584e-01 1.74176071e+01] [-1.09869542e-01 9.93890781e-01 -1.04784899e-02 -1.05467458e+00] [-1.04257286e-01 -1.03967166e-03 9.94549816e-01 -2.26447522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.05587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.06, Z:-2.27 [[ 9.89414104e-01 1.01168049e-01 1.04042087e-01 1.74503518e+01] [-1.00619450e-01 9.94869349e-01 -1.05215870e-02 -1.05631775e+00] [-1.04572732e-01 -5.84510673e-05 9.94517240e-01 -2.26798747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.08587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.06, Z:-2.27 [[ 9.89908220e-01 9.65236278e-02 1.03754059e-01 1.74828827e+01] [-9.59504596e-02 9.95330591e-01 -1.05130421e-02 -1.05931232e+00] [-1.04284345e-01 4.51697188e-04 9.94547420e-01 -2.27227553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.06, Z:-2.28 [[ 9.90379060e-01 9.18788745e-02 1.03477483e-01 1.75147655e+01] [-9.12813091e-02 9.95769729e-01 -1.05057143e-02 -1.06173802e+00] [-1.04004998e-01 9.59079426e-04 9.94576312e-01 -2.27676091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.14587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.07, Z:-2.28 [[ 9.91067837e-01 8.39294199e-02 1.03635877e-01 1.75464549e+01] [-8.32846311e-02 9.96470048e-01 -1.05410775e-02 -1.06525561e+00] [-1.04154754e-01 1.81564711e-03 9.94559445e-01 -2.27961917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.07, Z:-2.28 [[ 9.91297538e-01 8.06391123e-02 1.04050583e-01 1.75778048e+01] [-7.99689767e-02 9.96740958e-01 -1.06030765e-02 -1.06936937e+00] [-1.04566501e-01 2.18998499e-03 9.94515485e-01 -2.28389147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205871560000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.07, Z:-2.29 [[ 9.91590771e-01 7.61278746e-02 1.04653190e-01 1.76104004e+01] [-7.54235973e-02 9.97094425e-01 -1.06765625e-02 -1.07472506e+00] [-1.05161896e-01 2.69346074e-03 9.94451467e-01 -2.28639048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.08, Z:-2.29 [[ 9.91673580e-01 7.57179392e-02 1.04164795e-01 1.76433821e+01] [-7.50159032e-02 9.97125501e-01 -1.06465801e-02 -1.07903587e+00] [-1.04671511e-01 2.74391604e-03 9.94503065e-01 -2.28956667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.08, Z:-2.29 [[ 9.91717469e-01 7.58578000e-02 1.03643886e-01 1.76754212e+01] [-7.51614758e-02 9.97114894e-01 -1.06132032e-02 -1.08281552e+00] [-1.04149957e-01 2.73527154e-03 9.94557844e-01 -2.29418054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.09, Z:-2.30 [[ 9.91518093e-01 7.79594084e-02 1.03991353e-01 1.77071792e+01] [-7.74048671e-02 9.96955769e-01 -9.36381424e-03 -1.08871643e+00] [-1.04404777e-01 1.23495435e-03 9.94534121e-01 -2.29793266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.09, Z:-2.30 [[ 9.91412618e-01 7.96453268e-02 1.03719052e-01 1.77396619e+01] [-7.88199522e-02 9.96816173e-01 -1.20388160e-02 -1.09093941e+00] [-1.04347664e-01 3.76030331e-03 9.94533773e-01 -2.30102843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.35587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.10, Z:-2.30 [[ 9.91285432e-01 8.07268681e-02 1.04097864e-01 1.77719674e+01] [-8.00446827e-02 9.96733618e-01 -1.07212138e-02 -1.09597736e+00] [-1.04623330e-01 2.29530254e-03 9.94509271e-01 -2.30393792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.10, Z:-2.31 [[ 9.91141969e-01 8.16157643e-02 1.04768626e-01 1.78035423e+01] [-8.09274826e-02 9.96661359e-01 -1.08110053e-02 -1.10304712e+00] [-1.05301190e-01 2.23657990e-03 9.94437860e-01 -2.30827580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.11, Z:-2.31 [[ 9.91134619e-01 8.16629854e-02 1.04801350e-01 1.78361869e+01] [-8.09725393e-02 9.96657458e-01 -1.08332241e-02 -1.10885929e+00] [-1.05335720e-01 2.25115203e-03 9.94434170e-01 -2.31210237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.12, Z:-2.32 [[ 9.91310532e-01 8.13761776e-02 1.03350600e-01 1.78672520e+01] [-8.07011141e-02 9.96680874e-01 -1.07035224e-02 -1.11662461e+00] [-1.03878578e-01 2.27000590e-03 9.94587396e-01 -2.31643057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.12, Z:-2.32 [[ 9.91432141e-01 8.10483735e-02 1.02437641e-01 1.78986906e+01] [-8.03815444e-02 9.96707509e-01 -1.06276935e-02 -1.12257081e+00] [-1.02961723e-01 2.30254123e-03 9.94682654e-01 -2.32016951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.13, Z:-2.32 [[ 9.91471572e-01 8.08404078e-02 1.02220109e-01 1.79314850e+01] [-8.01734010e-02 9.96724317e-01 -1.06236656e-02 -1.12873921e+00] [-1.02744089e-01 2.33772867e-03 9.94705075e-01 -2.32414128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.14, Z:-2.33 [[ 9.91423485e-01 7.99255391e-02 1.03399141e-01 1.79622144e+01] [-7.94826204e-02 9.96800830e-01 -8.40342849e-03 -1.13856646e+00] [-1.03739998e-01 1.12921723e-04 9.94604444e-01 -2.32791682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.14, Z:-2.33 [[ 9.91469292e-01 8.03664071e-02 1.02615222e-01 1.79948977e+01] [-7.94399067e-02 9.96753701e-01 -1.30905099e-02 -1.14221243e+00] [-1.03334139e-01 4.82709488e-03 9.94634986e-01 -2.33147252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.15, Z:-2.34 [[ 9.91415509e-01 8.03951988e-02 1.03111105e-01 1.80260456e+01] [-7.97078418e-02 9.96760020e-01 -1.07760402e-02 -1.14985824e+00] [-1.03643369e-01 2.46476969e-03 9.94611470e-01 -2.33518364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.62587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.16, Z:-2.34 [[ 9.91270755e-01 8.11910505e-02 1.03876390e-01 1.80585186e+01] [-8.06679462e-02 9.96698256e-01 -9.23407615e-03 -1.15731946e+00] [-1.04283141e-01 7.73974583e-04 9.94547348e-01 -2.33762880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.16, Z:-2.34 [[ 9.90981913e-01 8.48980645e-02 1.03668541e-01 1.80901975e+01] [-8.40561603e-02 9.96382976e-01 -1.24710128e-02 -1.16442950e+00] [-1.04352334e-01 3.64456863e-03 9.94533714e-01 -2.34205358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.17, Z:-2.35 [[ 9.90784303e-01 8.72360253e-02 1.03616316e-01 1.81212941e+01] [-8.65735607e-02 9.96186024e-01 -1.08823038e-02 -1.17157220e+00] [-1.04170455e-01 1.81158240e-03 9.94557809e-01 -2.34618338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.71587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.18, Z:-2.35 [[ 9.90327514e-01 9.33107375e-02 1.02686524e-01 1.81530447e+01] [-9.26907598e-02 9.95636335e-01 -1.08032775e-02 -1.18013957e+00] [-1.03246496e-01 1.18069109e-03 9.94655100e-01 -2.34850309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.18, Z:-2.35 [[ 9.90001793e-01 9.65188328e-02 1.02861876e-01 1.81842450e+01] [-9.59117916e-02 9.95330779e-01 -1.08428853e-02 -1.18473781e+00] [-1.03428134e-01 8.68809097e-04 9.94636550e-01 -2.35405748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.19, Z:-2.36 [[ 9.89690292e-01 9.98183665e-02 1.02710365e-01 1.82160278e+01] [-9.92295920e-02 9.95005531e-01 -1.08388567e-02 -1.18920873e+00] [-1.03279298e-01 5.35203693e-04 9.94652251e-01 -2.35734393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.19, Z:-2.36 [[ 9.89114168e-01 1.05290834e-01 1.02795928e-01 1.82483273e+01] [-1.04728589e-01 9.94441471e-01 -1.08665935e-02 -1.19479847e+00] [-1.03368686e-01 -1.73708428e-05 9.94643109e-01 -2.36064644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.20, Z:-2.36 [[ 9.88829285e-01 1.07614362e-01 1.03129987e-01 1.82793946e+01] [-1.07058885e-01 9.94192683e-01 -1.09226254e-02 -1.20024001e+00] [-1.03706509e-01 -2.40369565e-04 9.94607914e-01 -2.36428750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.21, Z:-2.37 [[ 9.88579544e-01 1.09500095e-01 1.03538471e-01 1.83108338e+01] [-1.08948483e-01 9.93986696e-01 -1.09852539e-02 -1.20545525e+00] [-1.04118749e-01 -4.20562071e-04 9.94564784e-01 -2.36811636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.21, Z:-2.37 [[ 9.88570317e-01 1.09585346e-01 1.03536368e-01 1.83439199e+01] [-1.09032127e-01 9.93977306e-01 -1.10050426e-02 -1.20910302e+00] [-1.04118791e-01 -4.09531925e-04 9.94564784e-01 -2.37196826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.22, Z:-2.38 [[ 9.88305726e-01 1.11687809e-01 1.03815345e-01 1.83760139e+01] [-1.11142348e-01 9.93743147e-01 -1.10424499e-02 -1.21506761e+00] [-1.04399095e-01 -6.24964774e-04 9.94535288e-01 -2.37594434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.22, Z:-2.38 [[ 9.88247777e-01 1.12013258e-01 1.04016154e-01 1.84081354e+01] [-1.11465348e-01 9.93706506e-01 -1.10840624e-02 -1.21987095e+00] [-1.04603091e-01 -6.40396744e-04 9.94513843e-01 -2.37990481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.23, Z:-2.38 [[ 9.88169086e-01 1.11670695e-01 1.05126175e-01 1.84389658e+01] [-1.11106854e-01 9.93745092e-01 -1.12231508e-02 -1.22775410e+00] [-1.05721917e-01 -5.89867823e-04 9.94395559e-01 -2.38355820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.23, Z:-2.39 [[ 9.88109713e-01 1.11226275e-01 1.06150421e-01 1.84711699e+01] [-1.10791678e-01 9.93793332e-01 -1.00008776e-02 -1.23397943e+00] [-1.06603941e-01 -1.87861890e-03 9.94299789e-01 -2.38774753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.24, Z:-2.39 [[ 9.88086526e-01 1.11756737e-01 1.05808546e-01 1.85017629e+01] [-1.11025639e-01 9.93735193e-01 -1.27935290e-02 -1.23777986e+00] [-1.06575439e-01 8.93652216e-04 9.94304218e-01 -2.39109401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.25, Z:-2.39 [[ 9.88128285e-01 1.11290211e-01 1.05910251e-01 1.85324016e+01] [-1.10711260e-01 9.93787818e-01 -1.13485556e-02 -1.24615623e+00] [-1.06515300e-01 -5.11628533e-04 9.94310932e-01 -2.39495029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.25, Z:-2.40 [[ 9.88157809e-01 1.11727100e-01 1.05172241e-01 1.85647517e+01] [-1.11156650e-01 9.93738783e-01 -1.12885416e-02 -1.25204696e+00] [-1.05774971e-01 -5.35733372e-04 9.94389948e-01 -2.39900481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.26, Z:-2.40 [[ 9.88119746e-01 1.12357902e-01 1.04857373e-01 1.85956382e+01] [-1.11918047e-01 9.93666231e-01 -1.00881858e-02 -1.25761846e+00] [-1.05326718e-01 -1.76709687e-03 9.94436101e-01 -2.40293013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.26, Z:-2.41 [[ 9.88123570e-01 1.14560710e-01 1.02409245e-01 1.86279277e+01] [-1.13905094e-01 9.93416153e-01 -1.22464733e-02 -1.26221269e+00] [-1.03137963e-01 4.36094271e-04 9.94666965e-01 -2.40711913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.19587156 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.27, Z:-2.41 [[ 9.88069918e-01 1.15574748e-01 1.01785635e-01 1.86603225e+01] [-1.15054805e-01 9.93298415e-01 -1.09840946e-02 -1.26909607e+00] [-1.02372994e-01 -8.57872903e-04 9.94745713e-01 -2.41009040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.28, Z:-2.41 [[ 9.87897309e-01 1.17518739e-01 1.01233659e-01 1.86928577e+01] [-1.17012631e-01 9.93070127e-01 -1.09438544e-02 -1.27591520e+00] [-1.01818230e-01 -1.03421247e-03 9.94802482e-01 -2.41343914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.28, Z:-2.42 [[ 9.87755207e-01 1.18577173e-01 1.01385925e-01 1.87245695e+01] [-1.18073007e-01 9.92944202e-01 -1.09807141e-02 -1.27949381e+00] [-1.01972629e-01 -1.12468351e-03 9.94786569e-01 -2.41848318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.28, Z:-2.42 [[ 9.87637489e-01 1.19882883e-01 1.00996459e-01 1.87570204e+01] [-1.19387513e-01 9.92787271e-01 -1.09569836e-02 -1.28324088e+00] [-1.01581553e-01 -1.23618829e-03 9.94826447e-01 -2.42254334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.29, Z:-2.43 [[ 9.87439663e-01 1.21533077e-01 1.00958522e-01 1.87882894e+01] [-1.21044642e-01 9.92586415e-01 -1.09728303e-02 -1.28854586e+00] [-1.01543620e-01 -1.38548034e-03 9.94830123e-01 -2.42621640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.29, Z:-2.43 [[ 9.87325734e-01 1.22343570e-01 1.01093743e-01 1.88213043e+01] [-1.21856187e-01 9.92486746e-01 -1.10058485e-02 -1.29298153e+00] [-1.01680695e-01 -1.45254069e-03 9.94816026e-01 -2.42967228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.37587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.30, Z:-2.43 [[ 9.87240181e-01 1.23026944e-01 1.01099930e-01 1.88526143e+01] [-1.22540946e-01 9.92402194e-01 -1.10273418e-02 -1.29695553e+00] [-1.01688453e-01 -1.50224619e-03 9.94815160e-01 -2.43133997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.30, Z:-2.44 [[ 9.87119670e-01 1.23412028e-01 1.01804854e-01 1.88851456e+01] [-1.22919262e-01 9.92354332e-01 -1.11236360e-02 -1.30029040e+00] [-1.02399278e-01 -1.53341757e-03 9.94742196e-01 -2.43743935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.30, Z:-2.44 [[ 9.87025756e-01 1.23793673e-01 1.02251076e-01 1.89168860e+01] [-1.23296494e-01 9.92306754e-01 -1.11928720e-02 -1.30314154e+00] [-1.02850040e-01 -1.55954622e-03 9.94695650e-01 -2.43883433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.31, Z:-2.44 [[ 9.86949475e-01 1.23988051e-01 1.02750653e-01 1.89498890e+01] [-1.23485082e-01 9.92282471e-01 -1.12664295e-02 -1.30559576e+00] [-1.03354575e-01 -1.56877620e-03 9.94643338e-01 -2.44421908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.31, Z:-2.45 [[ 9.87030938e-01 1.23362209e-01 1.02721428e-01 1.89819907e+01] [-1.22854075e-01 9.92360603e-01 -1.12831701e-02 -1.30851361e+00] [-1.03328615e-01 -1.48290813e-03 9.94646167e-01 -2.44824782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.31, Z:-2.45 [[ 9.87099030e-01 1.22747794e-01 1.02803132e-01 1.90148139e+01] [-1.22233622e-01 9.92436907e-01 -1.13104691e-02 -1.31242384e+00] [-1.03413958e-01 -1.40144609e-03 9.94637416e-01 -2.45199832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.32, Z:-2.46 [[ 9.87180640e-01 1.22000087e-01 1.02909492e-01 1.90470245e+01] [-1.21478741e-01 9.92529232e-01 -1.13419187e-02 -1.31580617e+00] [-1.03524394e-01 -1.30479297e-03 9.94626059e-01 -2.45546113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.32, Z:-2.46 [[ 9.87354322e-01 1.19802813e-01 1.03820657e-01 1.90800276e+01] [-1.19381832e-01 9.92795174e-01 -1.02820226e-02 -1.31944341e+00] [-1.04304463e-01 -2.24230084e-03 9.94542885e-01 -2.45887523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.32, Z:-2.46 [[ 9.87476516e-01 1.18861063e-01 1.03740914e-01 1.91127851e+01] [-1.18187251e-01 9.92910872e-01 -1.26402107e-02 -1.32167147e+00] [-1.04507910e-01 2.21057800e-04 9.94524031e-01 -2.46243574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.33, Z:-2.47 [[ 9.87649521e-01 1.16750623e-01 1.04487869e-01 1.91438868e+01] [-1.16216299e-01 9.93160682e-01 -1.12085421e-02 -1.32611738e+00] [-1.05081847e-01 -1.07308219e-03 9.94462998e-01 -2.46594302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.33, Z:-2.47 [[ 9.87996218e-01 1.13269714e-01 1.05040211e-01 1.91750988e+01] [-1.12621640e-01 9.93564269e-01 -1.20999958e-02 -1.33027033e+00] [-1.05734763e-01 1.24949276e-04 9.94394361e-01 -2.46929511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.33, Z:-2.47 [[ 9.88215202e-01 1.11507137e-01 1.04865980e-01 1.92069747e+01] [-1.10897628e-01 9.93763625e-01 -1.16435803e-02 -1.33462511e+00] [-1.05510338e-01 -1.23025317e-04 9.94418198e-01 -2.47305269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:-1.34, Z:-2.48 [[ 9.88669826e-01 1.08223337e-01 1.04017717e-01 1.92398273e+01] [-1.07603520e-01 9.94126576e-01 -1.15686310e-02 -1.33913619e+00] [-1.04658772e-01 2.44883957e-04 9.94508161e-01 -2.47678272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.76587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.34, Z:-2.48 [[ 9.88844955e-01 1.07068027e-01 1.03547539e-01 1.92727408e+01] [-1.06445336e-01 9.94251622e-01 -1.15369898e-02 -1.34398782e+00] [-1.04187551e-01 3.86141684e-04 9.94557593e-01 -2.47978460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.35, Z:-2.48 [[ 9.88906624e-01 1.06454155e-01 1.03591516e-01 1.93050271e+01] [-1.05825411e-01 9.94317500e-01 -1.15625179e-02 -1.34864930e+00] [-1.04233735e-01 4.71635802e-04 9.94552717e-01 -2.48442689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.35, Z:-2.49 [[ 9.88844480e-01 1.06518912e-01 1.04116838e-01 1.93366686e+01] [-1.05881848e-01 9.94310556e-01 -1.16426656e-02 -1.35311058e+00] [-1.04764635e-01 4.88702452e-04 9.94496924e-01 -2.48805724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.36, Z:-2.49 [[ 9.88770748e-01 1.06944906e-01 1.04380053e-01 1.93690320e+01] [-1.06305686e-01 9.94264843e-01 -1.16842941e-02 -1.35740704e+00] [-1.05030993e-01 4.56894987e-04 9.94468844e-01 -2.49203714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.36, Z:-2.50 [[ 9.88791309e-01 1.07294728e-01 1.03824796e-01 1.94013611e+01] [-1.06662124e-01 9.94227162e-01 -1.16422208e-02 -1.36302563e+00] [-1.04474582e-01 4.37553349e-04 9.94527461e-01 -2.49564808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.37, Z:-2.50 [[ 9.88802220e-01 1.07602589e-01 1.03401412e-01 1.94341856e+01] [-1.06974735e-01 9.94193896e-01 -1.16147531e-02 -1.36713857e+00] [-1.04050831e-01 4.23354999e-04 9.94571891e-01 -2.49996576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.94587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.37, Z:-2.50 [[ 9.88856417e-01 1.07933601e-01 1.02534502e-01 1.94672450e+01] [-1.07315983e-01 9.94158023e-01 -1.15371633e-02 -1.37165411e+00] [-1.03180746e-01 4.05007121e-04 9.94662541e-01 -2.50247940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.38, Z:-2.51 [[ 9.88915746e-01 1.07906551e-01 1.01989336e-01 1.94979447e+01] [-1.07293250e-01 9.94160950e-01 -1.14962510e-02 -1.37795798e+00] [-1.02634336e-01 4.26056391e-04 9.94719062e-01 -2.50840140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.38, Z:-2.51 [[ 9.88899798e-01 1.08204871e-01 1.01827774e-01 1.95300900e+01] [-1.07593155e-01 9.94128530e-01 -1.14968632e-02 -1.38323842e+00] [-1.02473912e-01 4.13274222e-04 9.94735606e-01 -2.51196280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.39, Z:-2.52 [[ 9.88891241e-01 1.08406892e-01 1.01695920e-01 1.95622306e+01] [-1.07795754e-01 9.94106521e-01 -1.15021492e-02 -1.38711067e+00] [-1.02343490e-01 4.11986173e-04 9.94749034e-01 -2.51547458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.39, Z:-2.52 [[ 9.88845060e-01 1.08870109e-01 1.01650120e-01 1.95943752e+01] [-1.08259882e-01 9.94055910e-01 -1.15172141e-02 -1.39019121e+00] [-1.02299783e-01 3.84110267e-04 9.94753541e-01 -2.51917927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.39, Z:-2.52 [[ 9.88815300e-01 1.09205101e-01 1.01580254e-01 1.96272825e+01] [-1.08595572e-01 9.94019170e-01 -1.15278439e-02 -1.39467575e+00] [-1.02231619e-01 3.67742697e-04 9.94760555e-01 -2.52262727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.40, Z:-2.53 [[ 9.88742799e-01 1.09461099e-01 1.02009535e-01 1.96580545e+01] [-1.08798646e-01 9.93990744e-01 -1.20522164e-02 -1.39901335e+00] [-1.02715783e-01 8.18042777e-04 9.94710409e-01 -2.52623456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.40, Z:-2.53 [[ 9.88605920e-01 1.09711356e-01 1.03061887e-01 1.96909668e+01] [-1.09133527e-01 9.93963481e-01 -1.12459708e-02 -1.40440995e+00] [-1.03673563e-01 -1.29673945e-04 9.94611369e-01 -2.52909895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.41, Z:-2.53 [[ 9.88559440e-01 1.09981201e-01 1.03220000e-01 1.97224985e+01] [-1.09350984e-01 9.93933609e-01 -1.17619113e-02 -1.40798272e+00] [-1.03887416e-01 3.40139905e-04 9.94589005e-01 -2.53251403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.41, Z:-2.54 [[ 9.88367774e-01 1.10989371e-01 1.03973571e-01 1.97544032e+01] [-1.10354173e-01 9.93821562e-01 -1.18599572e-02 -1.41346140e+00] [-1.04647506e-01 2.48082044e-04 9.94509345e-01 -2.53627223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.42, Z:-2.54 [[ 9.88277256e-01 1.11643232e-01 1.04133828e-01 1.97862795e+01] [-1.11007490e-01 9.93748333e-01 -1.18990907e-02 -1.41807945e+00] [-1.04811271e-01 1.99965814e-04 9.94492110e-01 -2.54013717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.42, Z:-2.54 [[ 9.88125329e-01 1.12560318e-01 1.04587323e-01 1.98173957e+01] [-1.12030183e-01 9.93644488e-01 -1.09485389e-02 -1.42266034e+00] [-1.05154988e-01 -8.98408294e-04 9.94455440e-01 -2.54415278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.43, Z:-2.55 [[ 9.88056853e-01 1.13930304e-01 1.03747483e-01 1.98502202e+01] [-1.13202864e-01 9.93488248e-01 -1.28923882e-02 -1.42510259e+00] [-1.04540738e-01 9.93900375e-04 9.94520108e-01 -2.54751989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.43, Z:-2.55 [[ 9.87761422e-01 1.16210818e-01 1.04030858e-01 1.98820033e+01] [-1.15595248e-01 9.93224544e-01 -1.19475127e-02 -1.43029630e+00] [-1.04714432e-01 -2.24180681e-04 9.94502306e-01 -2.55164400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.43, Z:-2.56 [[ 9.87624637e-01 1.17440163e-01 1.03948951e-01 1.99130784e+01] [-1.16830276e-01 9.93079904e-01 -1.19578562e-02 -1.43472012e+00] [-1.04633946e-01 -3.34511144e-04 9.94510747e-01 -2.55562383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.44, Z:-2.56 [[ 9.87516322e-01 1.19051313e-01 1.03142132e-01 1.99448723e+01] [-1.18457718e-01 9.92887985e-01 -1.18834865e-02 -1.43792067e+00] [-1.03823329e-01 -4.82844733e-04 9.94595638e-01 -2.55917358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.44, Z:-2.56 [[ 9.87497202e-01 1.19468851e-01 1.02841964e-01 1.99776877e+01] [-1.18879095e-01 9.92837820e-01 -1.18669456e-02 -1.44111020e+00] [-1.03523122e-01 -5.07184041e-04 9.94626918e-01 -2.56294984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.44, Z:-2.57 [[ 9.87456446e-01 1.19652958e-01 1.03019110e-01 2.00100991e+01] [-1.19060085e-01 9.92815649e-01 -1.19073065e-02 -1.44452464e+00] [-1.03703729e-01 -5.07517451e-04 9.94608103e-01 -2.56680770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.45, Z:-2.57 [[ 9.87510189e-01 1.19004413e-01 1.03254908e-01 2.00417139e+01] [-1.18403171e-01 9.92893636e-01 -1.19547505e-02 -1.44798876e+00] [-1.03943809e-01 -4.20270629e-04 9.94583082e-01 -2.56877674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.45, Z:-2.57 [[ 9.87535071e-01 1.18693811e-01 1.03374379e-01 2.00743114e+01] [-1.18087546e-01 9.92930835e-01 -1.19870258e-02 -1.45236701e+00] [-1.04066394e-01 -3.69618413e-04 9.94570284e-01 -2.57444343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:-1.46, Z:-2.58 [[ 9.87537885e-01 1.18226677e-01 1.03881560e-01 2.01060717e+01] [-1.17609646e-01 9.92986587e-01 -1.20668549e-02 -1.45651623e+00] [-1.04579620e-01 -3.00997097e-04 9.94516472e-01 -2.57797008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.46, Z:-2.58 [[ 9.87512080e-01 1.18388576e-01 1.03942473e-01 2.01390803e+01] [-1.17769693e-01 9.92967298e-01 -1.20931331e-02 -1.46053046e+00] [-1.04643165e-01 -2.99158084e-04 9.94509788e-01 -2.58157342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:-1.46, Z:-2.59 [[ 9.87419143e-01 1.18776607e-01 1.04381767e-01 2.01706025e+01] [-1.18152386e-01 9.92920951e-01 -1.21654759e-02 -1.46433100e+00] [-1.05087817e-01 -3.20531050e-04 9.94462894e-01 -2.58557679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:-1.47, Z:-2.59 [[ 9.87382572e-01 1.19349089e-01 1.04074259e-01 2.02027666e+01] [-1.18729679e-01 9.92852287e-01 -1.21490192e-02 -1.46938754e+00] [-1.04780340e-01 -3.60973501e-04 9.94495324e-01 -2.58962764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.23, Y:-1.47, Z:-2.59 [[ 9.87374215e-01 1.19489945e-01 1.03991886e-01 2.02348285e+01] [-1.18870104e-01 9.92835347e-01 -1.21602379e-02 -1.47415848e+00] [-1.04699846e-01 -3.54820899e-04 9.94503804e-01 -2.59317209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.48, Z:-2.60 [[ 9.87403845e-01 1.19178676e-01 1.04067721e-01 2.02665655e+01] [-1.18553929e-01 9.92872778e-01 -1.21907026e-02 -1.47848008e+00] [-1.04778880e-01 -3.00490588e-04 9.94495498e-01 -2.59666841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.48, Z:-2.60 [[ 9.87608180e-01 1.17832164e-01 1.03661290e-01 2.02989955e+01] [-1.17203618e-01 9.93033514e-01 -1.21553228e-02 -1.48348540e+00] [-1.04371423e-01 -1.44782051e-04 9.94538378e-01 -2.59957641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.75587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.49, Z:-2.60 [[ 9.87598786e-01 1.17912942e-01 1.03658943e-01 2.03320346e+01] [-1.17282742e-01 9.93023927e-01 -1.21753017e-02 -1.48750344e+00] [-1.04371437e-01 -1.33092017e-04 9.94538378e-01 -2.60342981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.49, Z:-2.61 [[ 9.87726941e-01 1.17133705e-01 1.03320785e-01 2.03637251e+01] [-1.16502632e-01 9.93116153e-01 -1.21426228e-02 -1.49333539e+00] [-1.04031850e-01 -4.35476546e-05 9.94573965e-01 -2.60919203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.50, Z:-2.61 [[ 9.87813740e-01 1.16439955e-01 1.03275124e-01 2.03954826e+01] [-1.15803471e-01 9.93197732e-01 -1.21582014e-02 -1.49954896e+00] [-1.03988319e-01 5.04205847e-05 9.94578517e-01 -2.61313635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.51, Z:-2.62 [[ 9.87967304e-01 1.16269689e-01 1.01990025e-01 2.04256864e+01] [-1.15445527e-01 9.93215617e-01 -1.39667030e-02 -1.50564381e+00] [-1.02921990e-01 2.02435372e-03 9.94687371e-01 -2.61709231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.51, Z:-2.62 [[ 9.87738473e-01 1.17400547e-01 1.02906854e-01 2.04582796e+01] [-1.16982857e-01 9.93082516e-01 -1.01058606e-02 -1.51383877e+00] [-1.03381431e-01 -2.05639045e-03 9.94639659e-01 -2.62065965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.52, Z:-2.62 [[ 9.87510416e-01 1.19461981e-01 1.02722990e-01 2.04911854e+01] [-1.18842696e-01 9.92838754e-01 -1.21500003e-02 -1.51732342e+00] [-1.03438828e-01 -2.09625201e-04 9.94635795e-01 -2.62270062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.52, Z:-2.63 [[ 9.87105234e-01 1.22601431e-01 1.02918154e-01 2.05224012e+01] [-1.21994663e-01 9.92455853e-01 -1.21935499e-02 -1.52138713e+00] [-1.03636671e-01 -5.19148658e-04 9.94615087e-01 -2.62760881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.53, Z:-2.63 [[ 9.86718537e-01 1.25863964e-01 1.02687832e-01 2.05544714e+01] [-1.25275591e-01 9.92047154e-01 -1.21848920e-02 -1.52543356e+00] [-1.03404811e-01 -8.41219997e-04 9.94638999e-01 -2.63132646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.53, Z:-2.64 [[ 9.85979233e-01 1.32437245e-01 1.01515162e-01 2.05856252e+01] [-1.31894899e-01 9.91190269e-01 -1.20659474e-02 -1.52962211e+00] [-1.02218821e-01 -1.49255839e-03 9.94760818e-01 -2.63501649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.53, Z:-2.64 [[ 9.85560817e-01 1.35681651e-01 1.01293466e-01 2.06166252e+01] [-1.35156826e-01 9.90750840e-01 -1.20584012e-02 -1.53390662e+00] [-1.01992691e-01 -1.80621571e-03 9.94783508e-01 -2.63920631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.54, Z:-2.64 [[ 9.84851052e-01 1.40753553e-01 1.01276074e-01 2.06494046e+01] [-1.40253736e-01 9.90041964e-01 -1.20747641e-02 -1.53627691e+00] [-1.01967129e-01 -2.31250363e-03 9.94785081e-01 -2.64247682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.54, Z:-2.65 [[ 9.84468718e-01 1.42913519e-01 1.01966017e-01 2.06812051e+01] [-1.42416249e-01 9.89731939e-01 -1.21779030e-02 -1.53877008e+00] [-1.02659411e-01 -2.53285312e-03 9.94713341e-01 -2.64645580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.54, Z:-2.65 [[ 9.84146906e-01 1.44876108e-01 1.02302399e-01 2.07139538e+01] [-1.44384133e-01 9.89446044e-01 -1.22371943e-02 -1.54213045e+00] [-1.02995581e-01 -2.72764629e-03 9.94678074e-01 -2.65009416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.55, Z:-2.65 [[ 9.83736913e-01 1.47452253e-01 1.02564702e-01 2.07452352e+01] [-1.46969466e-01 9.89064675e-01 -1.22900600e-02 -1.54587848e+00] [-1.03255321e-01 -2.98369381e-03 9.94650409e-01 -2.65411153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:-1.55, Z:-2.66 [[ 9.83604231e-01 1.48189939e-01 1.02773825e-01 2.07778220e+01] [-1.47707940e-01 9.88954198e-01 -1.23271376e-02 -1.54963451e+00] [-1.03465364e-01 -3.05548535e-03 9.94628364e-01 -2.65831630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.55, Z:-2.66 [[ 9.83542426e-01 1.48568822e-01 1.02818292e-01 2.08089966e+01] [-1.48086325e-01 9.88897286e-01 -1.23530664e-02 -1.55336348e+00] [-1.03512010e-01 -3.07621798e-03 9.94623447e-01 -2.66199091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.56, Z:-2.67 [[ 9.83507275e-01 1.48243338e-01 1.03621194e-01 2.08415377e+01] [-1.47749449e-01 9.88946222e-01 -1.24687911e-02 -1.55566352e+00] [-1.04324204e-01 -3.04682758e-03 9.94538676e-01 -2.66566274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.26587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.56, Z:-2.67 [[ 9.83491742e-01 1.48075886e-01 1.04007338e-01 2.08737336e+01] [-1.47575177e-01 9.88971392e-01 -1.25361048e-02 -1.55811695e+00] [-1.04716577e-01 -3.01974577e-03 9.94497521e-01 -2.66837421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.56, Z:-2.67 [[ 9.83502534e-01 1.47682273e-01 1.04463923e-01 2.09048611e+01] [-1.47300926e-01 9.89026037e-01 -1.13989508e-02 -1.56077963e+00] [-1.05000963e-01 -4.17673567e-03 9.94463349e-01 -2.67410781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.56, Z:-2.68 [[ 9.83673535e-01 1.47256627e-01 1.03449802e-01 2.09373746e+01] [-1.46640809e-01 9.89096652e-01 -1.35752242e-02 -1.56289992e+00] [-1.04320894e-01 -1.81637377e-03 9.94542031e-01 -2.67809876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.57, Z:-2.68 [[ 9.83798558e-01 1.46381546e-01 1.03502850e-01 2.09686294e+01] [-1.45978065e-01 9.89220939e-01 -1.15038470e-02 -1.56719322e+00] [-1.04071138e-01 -3.79167772e-03 9.94562628e-01 -2.68215235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.57, Z:-2.69 [[ 9.83962114e-01 1.45803620e-01 1.02761192e-01 2.10011237e+01] [-1.45188473e-01 9.89312168e-01 -1.34811386e-02 -1.56882372e+00] [-1.03628497e-01 -1.65481100e-03 9.94614697e-01 -2.68572603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:-1.57, Z:-2.69 [[ 9.84277474e-01 1.43961264e-01 1.02337717e-01 2.10328451e+01] [-1.43444745e-01 9.89580296e-01 -1.24274737e-02 -1.57178858e+00] [-1.03060463e-01 -2.44772528e-03 9.94672081e-01 -2.68891059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.57, Z:-2.69 [[ 9.84398129e-01 1.42724786e-01 1.02907526e-01 2.10653531e+01] [-1.42193773e-01 9.89759712e-01 -1.25156917e-02 -1.57416993e+00] [-1.03640022e-01 -2.31238580e-03 9.94612185e-01 -2.69218629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.58, Z:-2.70 [[ 9.84377560e-01 1.42503813e-01 1.03409292e-01 2.10983358e+01] [-1.41964293e-01 9.89791626e-01 -1.25967047e-02 -1.57661267e+00] [-1.04148730e-01 -2.28051365e-03 9.94559119e-01 -2.69576405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.58, Z:-2.70 [[ 9.84337981e-01 1.42537232e-01 1.03739467e-01 2.11303695e+01] [-1.41992266e-01 9.89786836e-01 -1.26576260e-02 -1.57878742e+00] [-1.04484142e-01 -2.27082004e-03 9.94523960e-01 -2.69998402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.58, Z:-2.70 [[ 9.84276127e-01 1.42647165e-01 1.04174337e-01 2.11624581e+01] [-1.42096117e-01 9.89770995e-01 -1.27306789e-02 -1.57949993e+00] [-1.04924733e-01 -2.27226554e-03 9.94477570e-01 -2.70357726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.58, Z:-2.71 [[ 9.84251350e-01 1.42807954e-01 1.04188136e-01 2.11952415e+01] [-1.42256441e-01 9.89747795e-01 -1.27439030e-02 -1.58198172e+00] [-1.04939909e-01 -2.27822976e-03 9.94475955e-01 -2.70607648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.58, Z:-2.71 [[ 9.84191148e-01 1.42943964e-01 1.04569633e-01 2.12276826e+01] [-1.42387064e-01 9.89728154e-01 -1.28103847e-02 -1.58476202e+00] [-1.05326677e-01 -2.28149586e-03 9.94435059e-01 -2.71071357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.59, Z:-2.72 [[ 9.84365121e-01 1.42132078e-01 1.04037406e-01 2.12590844e+01] [-1.41574139e-01 9.89845339e-01 -1.27658963e-02 -1.58587341e+00] [-1.04795385e-01 -2.16270313e-03 9.94491453e-01 -2.71500558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.59, Z:-2.72 [[ 9.84479444e-01 1.41810704e-01 1.03392205e-01 2.12923115e+01] [-1.41256700e-01 9.89891559e-01 -1.26982631e-02 -1.58821645e+00] [-1.04147821e-01 -2.10366262e-03 9.94559604e-01 -2.71865712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685871560000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.59, Z:-2.72 [[ 9.84704905e-01 1.40234187e-01 1.03395471e-01 2.13254938e+01] [-1.39669415e-01 9.90116507e-01 -1.27184075e-02 -1.58652031e+00] [-1.04157119e-01 -1.91730673e-03 9.94559007e-01 -2.72215550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.59, Z:-2.73 [[ 9.84695096e-01 1.40108152e-01 1.03659415e-01 2.13569900e+01] [-1.39537631e-01 9.90134405e-01 -1.27714451e-02 -1.58834396e+00] [-1.04426137e-01 -1.88840988e-03 9.94530852e-01 -2.72740761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.59, Z:-2.73 [[ 9.84681576e-01 1.40008511e-01 1.03922136e-01 2.13893357e+01] [-1.39433315e-01 9.90148532e-01 -1.28154202e-02 -1.59084209e+00] [-1.04692619e-01 -1.87109974e-03 9.94502868e-01 -2.73078673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.59, Z:-2.73 [[ 9.84616494e-01 1.39742038e-01 1.04892914e-01 2.14222578e+01] [-1.39152352e-01 9.90186234e-01 -1.29555116e-02 -1.59136062e+00] [-1.05673949e-01 -1.83988526e-03 9.94399131e-01 -2.73376092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.59, Z:-2.74 [[ 9.84608635e-01 1.39714375e-01 1.05003477e-01 2.14554666e+01] [-1.39121074e-01 9.90190178e-01 -1.29899578e-02 -1.59318639e+00] [-1.05788296e-01 -1.81817192e-03 9.94387013e-01 -2.73749405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.59, Z:-2.74 [[ 9.84785199e-01 1.38337212e-01 1.05170941e-01 2.14864008e+01] [-1.38035053e-01 9.90375006e-01 -1.01819010e-02 -1.59337210e+00] [-1.05567207e-01 -4.49029099e-03 9.94402032e-01 -2.74237971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:-1.59, Z:-2.75 [[ 9.85088624e-01 1.37462980e-01 1.03461740e-01 2.15201979e+01] [-1.36585260e-01 9.90506188e-01 -1.55549909e-02 -1.59166921e+00] [-1.04617729e-01 1.19169589e-03 9.94511795e-01 -2.74607630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:-1.59, Z:-2.75 [[ 9.85632483e-01 1.33041869e-01 1.04059929e-01 2.15520398e+01] [-1.32417288e-01 9.91109866e-01 -1.29187910e-02 -1.59306615e+00] [-1.04853563e-01 -1.04615348e-03 9.94487122e-01 -2.75026447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:-1.60, Z:-2.75 [[ 9.85942169e-01 1.30768128e-01 1.04008349e-01 2.15846495e+01] [-1.30129566e-01 9.91412669e-01 -1.29311961e-02 -1.59654434e+00] [-1.04806183e-01 -7.85149771e-04 9.94492357e-01 -2.75440013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.60, Z:-2.76 [[ 9.86259399e-01 1.28302037e-01 1.04072022e-01 2.16174483e+01] [-1.27646884e-01 9.91735012e-01 -1.29591311e-02 -1.60025752e+00] [-1.04874551e-01 -5.03404534e-04 9.94485332e-01 -2.75804930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.60, Z:-2.76 [[ 9.86782850e-01 1.24166853e-01 1.04125886e-01 2.16492088e+01] [-1.23485921e-01 9.92261352e-01 -1.29860181e-02 -1.60420269e+00] [-1.04932526e-01 -4.37009961e-05 9.94479343e-01 -2.76177065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.61, Z:-2.76 [[ 9.86955598e-01 1.22751050e-01 1.04167305e-01 2.16819985e+01] [-1.22059740e-01 9.92437486e-01 -1.30098401e-02 -1.60771859e+00] [-1.04976510e-01 1.25500313e-04 9.94474694e-01 -2.76476208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.61, Z:-2.77 [[ 9.87008789e-01 1.21843325e-01 1.04727528e-01 2.17151408e+01] [-1.21137322e-01 9.92549316e-01 -1.30997806e-02 -1.61097022e+00] [-1.05543357e-01 2.43186279e-04 9.94414672e-01 -2.76830534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.61, Z:-2.77 [[ 9.87039151e-01 1.20663534e-01 1.05801820e-01 2.17478406e+01] [-1.19933993e-01 9.92693385e-01 -1.32544523e-02 -1.61351827e+00] [-1.06628095e-01 3.93428650e-04 9.94298896e-01 -2.77194852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.62, Z:-2.78 [[ 9.87028015e-01 1.20605239e-01 1.05972041e-01 2.17793205e+01] [-1.19870733e-01 9.92700458e-01 -1.32969413e-02 -1.61748406e+00] [-1.06802174e-01 4.21507326e-04 9.94280201e-01 -2.77538000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.62, Z:-2.78 [[ 9.87053003e-01 1.21286895e-01 1.04956458e-01 2.18111568e+01] [-1.20568231e-01 9.92617427e-01 -1.31888124e-02 -1.62080562e+00] [-1.05781240e-01 3.63642382e-04 9.94389359e-01 -2.77965782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.62, Z:-2.78 [[ 9.87019512e-01 1.22358590e-01 1.04023356e-01 2.18439599e+01] [-1.21656738e-01 9.92485922e-01 -1.30894062e-02 -1.62398293e+00] [-1.04843318e-01 2.64357101e-04 9.94488717e-01 -2.78395940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.63, Z:-2.79 [[ 9.86867592e-01 1.23469417e-01 1.04152091e-01 2.18762485e+01] [-1.22968774e-01 9.92346895e-01 -1.12392840e-02 -1.62826982e+00] [-1.04742712e-01 -1.71576979e-03 9.94497874e-01 -2.78809871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.63, Z:-2.79 [[ 9.86593229e-01 1.26720027e-01 1.02838884e-01 2.19068650e+01] [-1.26044969e-01 9.91938521e-01 -1.30627979e-02 -1.62935608e+00] [-1.03665168e-01 -7.46558745e-05 9.94612250e-01 -2.79125047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.63, Z:-2.79 [[ 9.86440514e-01 1.28241671e-01 1.02416724e-01 2.19389425e+01] [-1.27397528e-01 9.91741782e-01 -1.47684936e-02 -1.63142332e+00] [-1.03464881e-01 1.52060298e-03 9.94631945e-01 -2.79473316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.64, Z:-2.80 [[ 9.86221587e-01 1.29451430e-01 1.03001502e-01 2.19711780e+01] [-1.28795765e-01 9.91585672e-01 -1.30194141e-02 -1.63554226e+00] [-1.03820195e-01 -4.26130039e-04 9.94595991e-01 -2.79819048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.64, Z:-2.80 [[ 9.85963926e-01 1.31378943e-01 1.03027715e-01 2.20031041e+01] [-1.30731393e-01 9.91332034e-01 -1.30422906e-02 -1.63751290e+00] [-1.03848157e-01 -6.09728695e-04 9.94592976e-01 -2.80120336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.64, Z:-2.80 [[ 9.85866326e-01 1.32007535e-01 1.03158122e-01 2.20356159e+01] [-1.31359897e-01 9.91248494e-01 -1.30767372e-02 -1.63985563e+00] [-1.03981561e-01 -6.58925393e-04 9.94579007e-01 -2.80384409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.64, Z:-2.81 [[ 9.85740637e-01 1.32671788e-01 1.03506487e-01 2.20668619e+01] [-1.32021213e-01 9.91159771e-01 -1.31418277e-02 -1.64070964e+00] [-1.04335016e-01 -7.10618354e-04 9.94541955e-01 -2.80930129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.64, Z:-2.81 [[ 9.85699291e-01 1.32694034e-01 1.03871080e-01 2.20990889e+01] [-1.32113337e-01 9.91156031e-01 -1.24815296e-02 -1.64399830e+00] [-1.04608672e-01 -1.41972012e-03 9.94512448e-01 -2.81383489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.65, Z:-2.82 [[ 9.85747771e-01 1.32991499e-01 1.03027146e-01 2.21323021e+01] [-1.32272018e-01 9.91117178e-01 -1.38149298e-02 -1.64620101e+00] [-1.03949243e-01 -9.57218792e-06 9.94582603e-01 -2.81745819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.65, Z:-2.82 [[ 9.85862059e-01 1.32251129e-01 1.02886534e-01 2.21644656e+01] [-1.31600947e-01 9.91216053e-01 -1.31121284e-02 -1.64844057e+00] [-1.03716878e-01 -6.13215334e-04 9.94606673e-01 -2.82147619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.65, Z:-2.83 [[ 9.85898044e-01 1.31645411e-01 1.03317628e-01 2.21963228e+01] [-1.30984380e-01 9.91296728e-01 -1.31867233e-02 -1.65145358e+00] [-1.04154398e-01 -5.32230760e-04 9.94560998e-01 -2.82531560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.66, Z:-2.83 [[ 9.86335206e-01 1.28304535e-01 1.03347997e-01 2.22286060e+01] [-1.27622831e-01 9.91734804e-01 -1.32095544e-02 -1.65640048e+00] [-1.04188651e-01 -1.60515393e-04 9.94557539e-01 -2.82913499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.66, Z:-2.83 [[ 9.86568690e-01 1.26006212e-01 1.03945443e-01 2.22610170e+01] [-1.25301751e-01 9.92029447e-01 -1.33059065e-02 -1.66128543e+00] [-1.04793567e-01 1.02644717e-04 9.94493991e-01 -2.83330870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.67, Z:-2.84 [[ 9.86827596e-01 1.23594002e-01 1.04383038e-01 2.22936427e+01] [-1.22867969e-01 9.92332796e-01 -1.33822441e-02 -1.66610951e+00] [-1.05236678e-01 3.80635805e-04 9.94447131e-01 -2.83649432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.67, Z:-2.84 [[ 9.87478144e-01 1.18042771e-01 1.04655718e-01 2.23258519e+01] [-1.17279674e-01 9.93008013e-01 -1.34374227e-02 -1.67174945e+00] [-1.05510157e-01 9.95172799e-04 9.94417727e-01 -2.84026195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.68, Z:-2.84 [[ 9.87778049e-01 1.15740808e-01 1.04396317e-01 2.23582696e+01] [-1.14966550e-01 9.93278653e-01 -1.34242228e-02 -1.67771405e+00] [-1.05248364e-01 1.25806820e-03 9.94445172e-01 -2.84428088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.68, Z:-2.85 [[ 9.87768143e-01 1.15827828e-01 1.04393531e-01 2.23912699e+01] [-1.15051768e-01 9.93268493e-01 -1.34458561e-02 -1.68208611e+00] [-1.05248209e-01 1.27072798e-03 9.94445172e-01 -2.84813180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.69, Z:-2.85 [[ 9.88017243e-01 1.14028216e-01 1.04016792e-01 2.24227372e+01] [-1.13246967e-01 9.93476431e-01 -1.34054208e-02 -1.68792278e+00] [-1.04866828e-01 1.46520074e-03 9.94485194e-01 -2.85177426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.70, Z:-2.86 [[ 9.88285815e-01 1.12487961e-01 1.03138776e-01 2.24544117e+01] [-1.11709549e-01 9.93651745e-01 -1.33111585e-02 -1.69613737e+00] [-1.03981370e-01 1.63364293e-03 9.94577903e-01 -2.85513237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.70, Z:-2.86 [[ 9.88306687e-01 1.12626531e-01 1.02786951e-01 2.24853908e+01] [-1.11852042e-01 9.93636047e-01 -1.32863185e-02 -1.70202770e+00] [-1.03629212e-01 1.63402706e-03 9.94614657e-01 -2.85872766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.71, Z:-2.86 [[ 9.88159161e-01 1.14314079e-01 1.02341413e-01 2.25179363e+01] [-1.13553371e-01 9.93443572e-01 -1.32476548e-02 -1.70915092e+00] [-1.03184812e-01 1.46957907e-03 9.94661116e-01 -2.86250143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.71, Z:-2.87 [[ 9.87959838e-01 1.15795247e-01 1.02600288e-01 2.25495411e+01] [-1.15036501e-01 9.93272203e-01 -1.33016912e-02 -1.71436733e+00] [-1.03450286e-01 1.33875857e-03 9.94633725e-01 -2.86590573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.72, Z:-2.87 [[ 9.87710007e-01 1.17684482e-01 1.02855742e-01 2.25809029e+01] [-1.16930090e-01 9.93050356e-01 -1.33545926e-02 -1.71978068e+00] [-1.03712560e-01 1.16353348e-03 9.94606631e-01 -2.86955280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.73, Z:-2.87 [[ 9.87207503e-01 1.22160895e-01 1.02460049e-01 2.26127485e+01] [-1.21435152e-01 9.92510062e-01 -1.33146894e-02 -1.72700917e+00] [-1.03319164e-01 7.02109643e-04 9.94648007e-01 -2.87305324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.73, Z:-2.88 [[ 9.86866338e-01 1.24870197e-01 1.02480560e-01 2.26446790e+01] [-1.24156719e-01 9.92172990e-01 -1.33366756e-02 -1.73258692e+00] [-1.03343797e-01 4.37866058e-04 9.94645599e-01 -2.87716267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.74, Z:-2.88 [[ 9.86117924e-01 1.31127562e-01 1.01867570e-01 2.26773344e+01] [-1.30453885e-01 9.91365484e-01 -1.32763005e-02 -1.73687487e+00] [-1.02728882e-01 -1.97022331e-04 9.94709374e-01 -2.88091178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.74, Z:-2.88 [[ 9.85656418e-01 1.34429471e-01 1.02030104e-01 2.27086182e+01] [-1.33769194e-01 9.90923027e-01 -1.33175764e-02 -1.74024655e+00] [-1.02894255e-01 -5.21930165e-04 9.94692163e-01 -2.88494916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.74, Z:-2.89 [[ 9.85154257e-01 1.37923213e-01 1.02216819e-01 2.27408205e+01] [-1.37277332e-01 9.90442543e-01 -1.33605259e-02 -1.74393870e+00] [-1.03082613e-01 -8.69873248e-04 9.94672418e-01 -2.88884179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.75, Z:-2.89 [[ 9.84266128e-01 1.43634294e-01 1.02904706e-01 2.27731028e+01] [-1.43097550e-01 9.89628149e-01 -1.26181726e-02 -1.74837595e+00] [-1.03649796e-01 -2.30577147e-03 9.94611182e-01 -2.89291179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:-1.75, Z:-2.90 [[ 9.83918046e-01 1.46469721e-01 1.02234535e-01 2.28057496e+01] [-1.45780336e-01 9.89214736e-01 -1.42232084e-02 -1.75083575e+00] [-1.03215178e-01 -9.09313479e-04 9.94658635e-01 -2.89654775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.75, Z:-2.90 [[ 9.83248565e-01 1.50993579e-01 1.02094071e-01 2.28372664e+01] [-1.50413177e-01 9.88532347e-01 -1.34042769e-02 -1.75229616e+00] [-1.02947251e-01 -2.17655743e-03 9.94684435e-01 -2.89968615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.75, Z:-2.90 [[ 9.82836785e-01 1.53474323e-01 1.02359593e-01 2.28693797e+01] [-1.52902234e-01 9.88149665e-01 -1.34590329e-02 -1.75444048e+00] [-1.03212214e-01 -2.42297783e-03 9.94656407e-01 -2.90330110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:-1.76, Z:-2.91 [[ 9.82439982e-01 1.56056053e-01 1.02265297e-01 2.29020493e+01] [-1.55497769e-01 9.87744564e-01 -1.34580662e-02 -1.75630600e+00] [-1.03112204e-01 -2.68028326e-03 9.94666120e-01 -2.90696210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.76, Z:-2.91 [[ 9.81843116e-01 1.59973868e-01 1.01943405e-01 2.29353293e+01] [-1.59438067e-01 9.87116501e-01 -1.34356517e-02 -1.75603307e+00] [-1.02779370e-01 -3.06195738e-03 9.94699465e-01 -2.91116657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.76, Z:-2.91 [[ 9.81640421e-01 1.61164059e-01 1.02020737e-01 2.29668733e+01] [-1.60631775e-01 9.86922541e-01 -1.34658907e-02 -1.75833821e+00] [-1.02856782e-01 -3.16910940e-03 9.94691127e-01 -2.91470412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.76, Z:-2.92 [[ 9.81466776e-01 1.61832334e-01 1.02631686e-01 2.29993998e+01] [-1.61295344e-01 9.86812949e-01 -1.35652217e-02 -1.76046994e+00] [-1.03473568e-01 -3.24019870e-03 9.94626926e-01 -2.91857319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.03, Y:-1.76, Z:-2.92 [[ 9.81288828e-01 1.62259893e-01 1.03653089e-01 2.30314217e+01] [-1.61712410e-01 9.86742544e-01 -1.37203641e-02 -1.75851084e+00] [-1.04505177e-01 -3.29835076e-03 9.94518873e-01 -2.92178539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.76, Z:-2.93 [[ 9.81166438e-01 1.61776802e-01 1.05549450e-01 2.30629415e+01] [-1.61704323e-01 9.86795418e-01 -9.30135389e-03 -1.76199726e+00] [-1.05660457e-01 -7.94162608e-03 9.94370554e-01 -2.92582415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.75, Z:-2.93 [[ 9.81546208e-01 1.61161022e-01 1.02927971e-01 2.30975381e+01] [-1.60138430e-01 9.86927190e-01 -1.81770464e-02 -1.75470007e+00] [-1.04511844e-01 1.35888733e-03 9.94522714e-01 -2.92913992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:-1.76, Z:-2.93 [[ 9.81743983e-01 1.59845650e-01 1.03092771e-01 2.31298308e+01] [-1.59286102e-01 9.87137522e-01 -1.36912325e-02 -1.75898753e+00] [-1.03955226e-01 -2.97996037e-03 9.94577514e-01 -2.93293609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.76, Z:-2.94 [[ 9.82131934e-01 1.57717520e-01 1.02674473e-01 2.31626783e+01] [-1.57148891e-01 9.87480513e-01 -1.36551381e-02 -1.75812598e+00] [-1.03542696e-01 -2.72403237e-03 9.94621280e-01 -2.93705896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:-1.76, Z:-2.94 [[ 9.82335721e-01 1.56434149e-01 1.02688305e-01 2.31942069e+01] [-1.55865368e-01 9.87684820e-01 -1.35898212e-02 -1.75944935e+00] [-1.03549593e-01 -2.65578367e-03 9.94620746e-01 -2.94051314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455871560000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.76, Z:-2.94 [[ 9.82566537e-01 1.55083404e-01 1.02528720e-01 2.32257453e+01] [-1.54485661e-01 9.87898736e-01 -1.37937701e-02 -1.76077955e+00] [-1.03427178e-01 -2.28592019e-03 9.94634402e-01 -2.94350221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.76, Z:-2.95 [[ 9.83024199e-01 1.50605317e-01 1.04792480e-01 2.32594566e+01] [-1.50451872e-01 9.88572518e-01 -9.41332749e-03 -1.76191839e+00] [-1.05012663e-01 -6.51269604e-03 9.94449559e-01 -2.94854981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.76, Z:-2.95 [[ 9.83303224e-01 1.50232406e-01 1.02688819e-01 2.32912719e+01] [-1.49150323e-01 9.88647394e-01 -1.81800030e-02 -1.75826024e+00] [-1.04254259e-01 2.56038499e-03 9.94547381e-01 -2.95126795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.76, Z:-2.95 [[ 9.83984395e-01 1.45527492e-01 1.02939103e-01 2.33236185e+01] [-1.44883060e-01 9.89353240e-01 -1.37501237e-02 -1.76013672e+00] [-1.03844156e-01 -1.38422507e-03 9.94592618e-01 -2.95489642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.76, Z:-2.96 [[ 9.84267739e-01 1.42799655e-01 1.04044591e-01 2.33564449e+01] [-1.42463854e-01 9.89742272e-01 -1.06904193e-02 -1.76445550e+00] [-1.04503918e-01 -4.30035855e-03 9.94515177e-01 -2.95923053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.60587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.76, Z:-2.96 [[ 9.84727547e-01 1.41373644e-01 1.01612750e-01 2.33879915e+01] [-1.40380116e-01 9.89953456e-01 -1.68990605e-02 -1.76377564e+00] [-1.02980975e-01 2.37656070e-03 9.94680487e-01 -2.96085085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.77, Z:-2.97 [[ 9.85307457e-01 1.36371986e-01 1.02819726e-01 2.34194862e+01] [-1.35861401e-01 9.90655348e-01 -1.19858909e-02 -1.76890689e+00] [-1.03493451e-01 -2.15944434e-03 9.94627791e-01 -2.96618128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.77, Z:-2.97 [[ 9.85598800e-01 1.35027496e-01 1.01796765e-01 2.34509970e+01] [-1.34129003e-01 9.90840267e-01 -1.56517326e-02 -1.77083368e+00] [-1.02977748e-01 1.77243029e-03 9.94682081e-01 -2.96950675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.78, Z:-2.97 [[ 9.86222483e-01 1.30520522e-01 1.01634673e-01 2.34827936e+01] [-1.29805810e-01 9.91445573e-01 -1.36428387e-02 -1.77679081e+00] [-1.02545917e-01 2.62103211e-04 9.94728237e-01 -2.97338683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.51, Y:-1.78, Z:-2.98 [[ 9.86463481e-01 1.28837561e-01 1.01443007e-01 2.35140495e+01] [-1.28114587e-01 9.91665606e-01 -1.36373714e-02 -1.78147198e+00] [-1.02354546e-01 4.56439942e-04 9.94747877e-01 -2.97706815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.79, Z:-2.98 [[ 9.86826722e-01 1.26148435e-01 1.01289651e-01 2.35464556e+01] [-1.25411611e-01 9.92011091e-01 -1.36353263e-02 -1.78512143e+00] [-1.02200533e-01 7.52805945e-04 9.94763532e-01 -2.98031796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.79, Z:-2.98 [[ 9.86866238e-01 1.25673113e-01 1.01495309e-01 2.35794726e+01] [-1.24928734e-01 9.92071364e-01 -1.36828683e-02 -1.78926194e+00] [-1.02410158e-01 8.23480345e-04 9.94741917e-01 -2.98396406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.79, Z:-2.99 [[ 9.86856550e-01 1.25695316e-01 1.01561989e-01 2.36112637e+01] [-1.24948018e-01 9.92068535e-01 -1.37118082e-02 -1.79338697e+00] [-1.02479963e-01 8.41618607e-04 9.94734713e-01 -2.98637689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.80, Z:-2.99 [[ 9.86574437e-01 1.27561949e-01 1.01974651e-01 2.36441039e+01] [-1.26816569e-01 9.91830379e-01 -1.37860918e-02 -1.79796721e+00] [-1.02900137e-01 6.68930396e-04 9.94691467e-01 -2.99087104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.87587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.80, Z:-2.99 [[ 9.86387351e-01 1.29302348e-01 1.01591813e-01 2.36766171e+01] [-1.28569771e-01 9.91605087e-01 -1.37537700e-02 -1.80211115e+00] [-1.02517353e-01 5.04908659e-04 9.94731088e-01 -2.99310349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.81, Z:-3.00 [[ 9.85817540e-01 1.33897549e-01 1.01169280e-01 2.37083065e+01] [-1.33193172e-01 9.90995179e-01 -1.37162312e-02 -1.80544621e+00] [-1.02094839e-01 4.66440343e-05 9.94774669e-01 -2.99694399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935871560000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.81, Z:-3.00 [[ 9.85519115e-01 1.36433244e-01 1.00687855e-01 2.37406818e+01] [-1.35746784e-01 9.90649248e-01 -1.36703700e-02 -1.80816701e+00] [-1.01611440e-01 -1.95641551e-04 9.94824144e-01 -3.00043417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.81, Z:-3.01 [[ 9.85125548e-01 1.38992974e-01 1.01037660e-01 2.37728581e+01] [-1.38313148e-01 9.90293269e-01 -1.37373552e-02 -1.81094796e+00] [-1.01966310e-01 -4.41817224e-04 9.94787754e-01 -3.00582456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.99587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.81, Z:-3.01 [[ 9.84869875e-01 1.41187879e-01 1.00485383e-01 2.38042878e+01] [-1.40524826e-01 9.89982609e-01 -1.36823574e-02 -1.81366331e+00] [-1.01410565e-01 -6.45349297e-04 9.94844451e-01 -3.00908527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.82, Z:-3.01 [[ 9.84419454e-01 1.43995262e-01 1.00914338e-01 2.38367146e+01] [-1.43339313e-01 9.89577950e-01 -1.37594785e-02 -1.81596111e+00] [-1.01843903e-01 -9.19893501e-04 9.94799966e-01 -3.01422818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.82, Z:-3.02 [[ 9.84298618e-01 1.44733535e-01 1.01036793e-01 2.38689391e+01] [-1.44077835e-01 9.89470185e-01 -1.37960043e-02 -1.81927679e+00] [-1.01969639e-01 -9.77774452e-04 9.94787031e-01 -3.01818817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.82, Z:-3.02 [[ 9.84365905e-01 1.43845057e-01 1.01648244e-01 2.39006603e+01] [-1.43174545e-01 9.89599839e-01 -1.38999425e-02 -1.82094915e+00] [-1.02590524e-01 -8.70811666e-04 9.94723291e-01 -3.02154123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.82, Z:-3.03 [[ 9.84576819e-01 1.42320035e-01 1.01752121e-01 2.39333443e+01] [-1.41638101e-01 9.89820451e-01 -1.39327859e-02 -1.82489415e+00] [-1.02699245e-01 -6.94079218e-04 9.94712211e-01 -3.02590221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.83, Z:-3.03 [[ 9.84905098e-01 1.40074012e-01 1.01691788e-01 2.39647105e+01] [-1.39378825e-01 9.90140939e-01 -1.39450580e-02 -1.82951960e+00] [-1.02642542e-01 -4.39123206e-04 9.94718209e-01 -3.02961442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.83, Z:-3.03 [[ 9.85796473e-01 1.33945465e-01 1.01311038e-01 2.39958899e+01] [-1.33222009e-01 9.90988682e-01 -1.39042474e-02 -1.83472799e+00] [-1.02260503e-01 2.09897984e-04 9.94757632e-01 -3.03361482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.84, Z:-3.04 [[ 9.86265200e-01 1.30768472e-01 1.00898772e-01 2.40281921e+01] [-1.30032573e-01 9.91412780e-01 -1.38647107e-02 -1.83950575e+00] [-1.01845399e-01 5.54154664e-04 9.94800084e-01 -3.03767647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.85, Z:-3.04 [[ 9.86678582e-01 1.27822465e-01 1.00631966e-01 2.40597388e+01] [-1.27073156e-01 9.91796678e-01 -1.38478404e-02 -1.84508767e+00] [-1.01576515e-01 8.75746031e-04 9.94827344e-01 -3.04175052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.26587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.85, Z:-3.04 [[ 9.87501736e-01 1.22009040e-01 9.97703090e-02 2.40917592e+01] [-1.21241124e-01 9.92527887e-01 -1.37471215e-02 -1.85262529e+00] [-1.00702087e-01 1.47904195e-03 9.94915525e-01 -3.04425009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.86, Z:-3.05 [[ 9.87670636e-01 1.19753397e-01 1.00825782e-01 2.41227250e+01] [-1.19099479e-01 9.92803610e-01 -1.25022231e-02 -1.86010266e+00] [-1.01597384e-01 3.39780483e-04 9.94825541e-01 -3.04959078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.87, Z:-3.05 [[ 9.88110911e-01 1.16474679e-01 1.00351761e-01 2.41534394e+01] [-1.15536385e-01 9.93187986e-01 -1.51316630e-02 -1.86838293e+00] [-1.01430619e-01 3.35748162e-03 9.94836950e-01 -3.05337092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.88, Z:-3.06 [[ 9.87886673e-01 1.15224126e-01 1.03939033e-01 2.41831919e+01] [-1.15122593e-01 9.93326658e-01 -6.99564861e-03 -1.87955484e+00] [-1.04051480e-01 -5.05482302e-03 9.94559067e-01 -3.05849248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.88, Z:-3.06 [[ 9.88017960e-01 1.16146647e-01 1.01638901e-01 2.42163587e+01] [-1.14988074e-01 9.93217876e-01 -1.72044766e-02 -1.87896587e+00] [-1.02947815e-01 5.31107047e-03 9.94672579e-01 -3.06029804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.89, Z:-3.06 [[ 9.87954949e-01 1.17564802e-01 1.00615783e-01 2.42479682e+01] [-1.16350479e-01 9.93047377e-01 -1.78738092e-02 -1.88516408e+00] [-1.02017571e-01 5.95182366e-03 9.94764792e-01 -3.06340374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.89, Z:-3.07 [[ 9.87758463e-01 1.18574594e-01 1.01357216e-01 2.42794082e+01] [-1.17755101e-01 9.92943244e-01 -1.40517357e-02 -1.89379234e+00] [-1.02308141e-01 1.94439166e-03 9.94750855e-01 -3.06741523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.90, Z:-3.07 [[ 9.87502346e-01 1.20453691e-01 1.01636730e-01 2.43113927e+01] [-1.19637504e-01 9.92717361e-01 -1.41105924e-02 -1.90097040e+00] [-1.02596219e-01 1.77467847e-03 9.94721502e-01 -3.07183418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.91, Z:-3.08 [[ 9.87084662e-01 1.24157012e-01 1.01236884e-01 2.43425986e+01] [-1.23364607e-01 9.92261591e-01 -1.40751359e-02 -1.91067436e+00] [-1.02200999e-01 1.40430235e-03 9.94762778e-01 -3.07606064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.92, Z:-3.08 [[ 9.86880325e-01 1.26247259e-01 1.00642205e-01 2.43753867e+01] [-1.25473130e-01 9.91998081e-01 -1.40107771e-02 -1.91631036e+00] [-1.01605697e-01 1.19906779e-03 9.94824027e-01 -3.07950536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.92, Z:-3.08 [[ 9.86337819e-01 1.30629551e-01 1.00367461e-01 2.44065346e+01] [-1.29880215e-01 9.91430953e-01 -1.39927021e-02 -1.92221406e+00] [-1.01335268e-01 7.65783807e-04 9.94852038e-01 -3.08345055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.93, Z:-3.09 [[ 9.86327182e-01 1.30711160e-01 1.00365747e-01 2.44394864e+01] [-1.29960995e-01 9.91420193e-01 -1.40049883e-02 -1.92694715e+00] [-1.01335236e-01 7.69868324e-04 9.94852038e-01 -3.08731694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.93, Z:-3.09 [[ 9.85938795e-01 1.33317456e-01 1.00752904e-01 2.44720716e+01] [-1.32574331e-01 9.91073254e-01 -1.40659846e-02 -1.93251109e+00] [-1.01728749e-01 5.10951126e-04 9.94812043e-01 -3.09131960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.94, Z:-3.10 [[ 9.85566211e-01 1.35831495e-01 1.01039840e-01 2.45035370e+01] [-1.35095196e-01 9.90731917e-01 -1.41264798e-02 -1.93798150e+00] [-1.02022215e-01 2.72584174e-04 9.94782083e-01 -3.09506952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.94, Z:-3.10 [[ 9.84751016e-01 1.41414718e-01 1.01327752e-01 2.45348478e+01] [-1.40702485e-01 9.89950398e-01 -1.41781570e-02 -1.94411397e+00] [-1.02314449e-01 -2.95112043e-04 9.94752063e-01 -3.09906131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.95, Z:-3.10 [[ 9.84355657e-01 1.44190017e-01 1.01257983e-01 2.45675713e+01] [-1.43491584e-01 9.89549857e-01 -1.41861211e-02 -1.94871872e+00] [-1.02245320e-01 -5.65479845e-04 9.94759054e-01 -3.10283843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.95, Z:-3.11 [[ 9.83502926e-01 1.49494900e-01 1.01849246e-01 2.45994227e+01] [-1.48814414e-01 9.88761882e-01 -1.42902099e-02 -1.95162973e+00] [-1.02840966e-01 -1.10217271e-03 9.94697201e-01 -3.10752932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.96, Z:-3.11 [[ 9.83035993e-01 1.52217995e-01 1.02322619e-01 2.46316143e+01] [-1.51544627e-01 9.88345978e-01 -1.43684736e-02 -1.95576964e+00] [-1.03317290e-01 -1.38171651e-03 9.94647490e-01 -3.11158052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.96, Z:-3.12 [[ 9.82646686e-01 1.54465214e-01 1.02693657e-01 2.46644170e+01] [-1.53797062e-01 9.87996926e-01 -1.44408509e-02 -1.95984624e+00] [-1.03691627e-01 -1.60372839e-03 9.94608202e-01 -3.11574940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.96, Z:-3.12 [[ 9.82350751e-01 1.56539233e-01 1.02383940e-01 2.46965541e+01] [-1.55884240e-01 9.87670106e-01 -1.44175098e-02 -1.96178096e+00] [-1.03378463e-01 -1.79699112e-03 9.94640470e-01 -3.12063754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.97, Z:-3.13 [[ 9.82284955e-01 1.56373683e-01 1.03264411e-01 2.47278296e+01] [-1.56054918e-01 9.87684776e-01 -1.12091627e-02 -1.96705719e+00] [-1.03745504e-01 -5.10432725e-03 9.94590778e-01 -3.12545361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.97, Z:-3.13 [[ 9.82813489e-01 1.54812587e-01 1.00552017e-01 2.47612799e+01] [-1.53835377e-01 9.87942428e-01 -1.74480772e-02 -1.96624140e+00] [-1.02040786e-01 1.67974824e-03 9.94778798e-01 -3.12970486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.97, Z:-3.13 [[ 9.83160868e-01 1.52529138e-01 1.00645768e-01 2.47930920e+01] [-1.51870819e-01 9.88298108e-01 -1.42163229e-02 -1.97186839e+00] [-1.01636425e-01 -1.30822287e-03 9.94820750e-01 -3.13441421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.98, Z:-3.14 [[ 9.83463489e-01 1.50533675e-01 1.00693487e-01 2.48248278e+01] [-1.49862179e-01 9.88604290e-01 -1.42437703e-02 -1.97595648e+00] [-1.01690180e-01 -1.08191741e-03 9.94815529e-01 -3.13880624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.98, Z:-3.14 [[ 9.84008380e-01 1.46094460e-01 1.01901503e-01 2.48559314e+01] [-1.45380921e-01 9.89270456e-01 -1.44344167e-02 -1.98044779e+00] [-1.02916935e-01 -6.10947390e-04 9.94689766e-01 -3.14343365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.98, Z:-3.15 [[ 9.84207948e-01 1.44108817e-01 1.02797682e-01 2.48885690e+01] [-1.43369895e-01 9.89561771e-01 -1.45799580e-02 -1.98479481e+00] [-1.03825756e-01 -3.88382312e-04 9.94595426e-01 -3.14673089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.99, Z:-3.15 [[ 9.84330205e-01 1.42710997e-01 1.03574216e-01 2.49206349e+01] [-1.41950905e-01 9.89764377e-01 -1.47111663e-02 -1.98855711e+00] [-1.04613515e-01 -2.21808368e-04 9.94512928e-01 -3.15017727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.99, Z:-3.16 [[ 9.84595045e-01 1.40405356e-01 1.04206208e-01 2.49532759e+01] [-1.39620986e-01 9.90094104e-01 -1.48204647e-02 -1.99239446e+00] [-1.05254825e-01 4.27826458e-05 9.94445283e-01 -3.15501089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.98, Y:-2.00, Z:-3.16 [[ 9.84632611e-01 1.39834503e-01 1.04618039e-01 2.49845180e+01] [-1.39038516e-01 9.90174882e-01 -1.48994858e-02 -1.99711365e+00] [-1.05673617e-01 1.24582717e-04 9.94400860e-01 -3.15896381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:-2.00, Z:-3.16 [[ 9.84712570e-01 1.39007205e-01 1.04967385e-01 2.50166025e+01] [-1.38199187e-01 9.90291342e-01 -1.49680229e-02 -2.00121201e+00] [-1.06028955e-01 2.32792997e-04 9.94363015e-01 -3.16307994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:-2.01, Z:-3.17 [[ 9.84797016e-01 1.38622797e-01 1.04683127e-01 2.50484582e+01] [-1.37814766e-01 9.90345209e-01 -1.49484657e-02 -2.00507338e+00] [-1.05744632e-01 2.94323754e-04 9.94393275e-01 -3.16722740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:-2.01, Z:-3.17 [[ 9.84903076e-01 1.38070890e-01 1.04414367e-01 2.50796336e+01] [-1.37261797e-01 9.90422279e-01 -1.49301244e-02 -2.00893520e+00] [-1.05475731e-01 3.72621740e-04 9.94421808e-01 -3.17112034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.11, Y:-2.01, Z:-3.17 [[ 9.85339745e-01 1.36183984e-01 1.02759473e-01 2.51119825e+01] [-1.35388966e-01 9.90683395e-01 -1.47050432e-02 -2.01434170e+00] [-1.03804695e-01 5.76964739e-04 9.94597533e-01 -3.17260650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.02, Z:-3.18 [[ 9.85389777e-01 1.35044786e-01 1.03778091e-01 2.51434035e+01] [-1.34225391e-01 9.90839230e-01 -1.48715757e-02 -2.01952868e+00] [-1.04835733e-01 7.24643797e-04 9.94489288e-01 -3.18013360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.28587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:25.17, Y:-2.03, Z:-3.18 [[ 9.85704185e-01 1.33550037e-01 1.02721214e-01 2.51749054e+01] [-1.32737248e-01 9.91041669e-01 -1.47388314e-02 -2.02626827e+00] [-1.03769374e-01 8.93196550e-04 9.94600985e-01 -3.17942574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.03, Z:-3.19 [[ 9.85644918e-01 1.32640090e-01 1.04454302e-01 2.52067575e+01] [-1.31792425e-01 9.91163738e-01 -1.50066953e-02 -2.03125707e+00] [-1.05521806e-01 1.02498729e-03 9.94416461e-01 -3.18774786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.04, Z:-3.19 [[ 9.85655711e-01 1.32196580e-01 1.04913696e-01 2.52377890e+01] [-1.31336674e-01 9.91222910e-01 -1.50937015e-02 -2.03715284e+00] [-1.05988194e-01 1.09817722e-03 9.94366782e-01 -3.19146904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.37587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.04, Z:-3.19 [[ 9.85785977e-01 1.31653757e-01 1.04370953e-01 2.52692760e+01] [-1.30797690e-01 9.91295072e-01 -1.50347531e-02 -2.04472642e+00] [-1.05441794e-01 1.16956917e-03 9.94424789e-01 -3.18906695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.05, Z:-3.20 [[ 9.85430599e-01 1.31117874e-01 1.08326533e-01 2.52979273e+01] [-1.30637609e-01 9.91362914e-01 -1.15493357e-02 -2.05174885e+00] [-1.08905232e-01 -2.77045053e-03 9.94048276e-01 -3.19937826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:-2.06, Z:-3.20 [[ 9.85759112e-01 1.30443889e-01 1.06128998e-01 2.53311710e+01] [-1.29145138e-01 9.91442722e-01 -1.90489614e-02 -2.05565227e+00] [-1.07705644e-01 5.07164313e-03 9.94169891e-01 -3.20241365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:-2.06, Z:-3.21 [[ 9.85776325e-01 1.29962842e-01 1.06558420e-01 2.53613364e+01] [-1.28837888e-01 9.91512942e-01 -1.74035988e-02 -2.06337678e+00] [-1.07915873e-01 3.42729396e-03 9.94154122e-01 -3.20663131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.49587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.39, Y:-2.08, Z:-3.21 [[ 9.85778540e-01 1.28443243e-01 1.08365140e-01 2.53918142e+01] [-1.28335880e-01 9.91698546e-01 -7.99353515e-03 -2.07618090e+00] [-1.08492267e-01 -6.02728023e-03 9.94079021e-01 -3.20835212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:-2.08, Z:-3.22 [[ 9.85978989e-01 1.28091874e-01 1.06948137e-01 2.54246190e+01] [-1.26868192e-01 9.91752665e-01 -1.81965370e-02 -2.07878840e+00] [-1.08396928e-01 4.37308639e-03 9.94098075e-01 -3.21505999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.46, Y:-2.09, Z:-3.22 [[ 9.86168475e-01 1.27466673e-01 1.05943320e-01 2.54559642e+01] [-1.26281286e-01 9.91833856e-01 -1.78504679e-02 -2.08602533e+00] [-1.07353511e-01 4.22491005e-03 9.94211936e-01 -3.21866524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.49, Y:-2.10, Z:-3.22 [[ 9.86279023e-01 1.26639405e-01 1.05906330e-01 2.54872899e+01] [-1.25716554e-01 9.91947101e-01 -1.53719853e-02 -2.09771906e+00] [-1.07000176e-01 1.84688780e-03 9.94257286e-01 -3.22355252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:-2.11, Z:-3.23 [[ 9.86219320e-01 1.27219363e-01 1.05767131e-01 2.55182850e+01] [-1.26300050e-01 9.91872969e-01 -1.53724271e-02 -2.10516585e+00] [-1.06863228e-01 1.80219074e-03 9.94272097e-01 -3.22699366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.64587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:25.55, Y:-2.11, Z:-3.23 [[ 9.86231673e-01 1.28117154e-01 1.04561383e-01 2.55495423e+01] [-1.27221785e-01 9.91757577e-01 -1.52159864e-02 -2.11321960e+00] [-1.05648973e-01 1.70400188e-03 9.94402027e-01 -3.22565366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:-2.14, Z:-3.22 [[ 9.86210048e-01 1.27103446e-01 1.05992715e-01 2.55779115e+01] [-1.28629540e-01 9.91663128e-01 7.66037506e-03 -2.13723082e+00] [-1.04135407e-01 -2.11885331e-02 9.94337399e-01 -3.22397425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705871560000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.61, Y:-2.12, Z:-3.23 [[ 9.85967505e-01 1.33173982e-01 1.00661655e-01 2.56121506e+01] [-1.29976440e-01 9.90799629e-01 -3.77123325e-02 -2.11842134e+00] [-1.04757832e-01 2.40994910e-02 9.94205719e-01 -3.23044975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:-2.14, Z:-3.24 [[ 9.85300526e-01 1.32744273e-01 1.07525961e-01 2.56382277e+01] [-1.32218141e-01 9.91147524e-01 -1.20394490e-02 -2.14305130e+00] [-1.08172258e-01 -2.35440730e-03 9.94129378e-01 -3.24305891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.67, Y:-2.15, Z:-3.25 [[ 9.85230415e-01 1.35021762e-01 1.05309792e-01 2.56706227e+01] [-1.33786725e-01 9.90832988e-01 -1.87377153e-02 -2.14646544e+00] [-1.06874415e-01 4.37191486e-03 9.94262916e-01 -3.24592872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:-2.16, Z:-3.25 [[ 9.84842243e-01 1.36327223e-01 1.07241058e-01 2.57002132e+01] [-1.35863314e-01 9.90659037e-01 -1.16547174e-02 -2.15824752e+00] [-1.07828178e-01 -3.09206749e-03 9.94164736e-01 -3.25051648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.82587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.73, Y:-2.16, Z:-3.25 [[ 9.84373439e-01 1.41618037e-01 1.04657847e-01 2.57325400e+01] [-1.40360147e-01 9.89911890e-01 -1.93256179e-02 -2.16372829e+00] [-1.06338903e-01 4.33383408e-03 9.94320499e-01 -3.25212700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:-2.17, Z:-3.26 [[ 9.83940533e-01 1.43711100e-01 1.05868542e-01 2.57640065e+01] [-1.42871967e-01 9.89619675e-01 -1.55080340e-02 -2.17272866e+00] [-1.06998269e-01 1.33336407e-04 9.94259198e-01 -3.25750992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:-2.19, Z:-3.25 [[ 9.83719857e-01 1.44264522e-01 1.07158721e-01 2.57946479e+01] [-1.45726940e-01 9.89307240e-01 5.90291364e-03 -2.19207558e+00] [-1.05161317e-01 -2.14227259e-02 9.94224403e-01 -3.25101117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:-2.18, Z:-3.26 [[ 9.82137398e-01 1.55846549e-01 1.05441856e-01 2.58269371e+01] [-1.53193034e-01 9.87649678e-01 -3.28634783e-02 -2.17762463e+00] [-1.09261274e-01 1.61234933e-02 9.93882290e-01 -3.26365927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:-2.20, Z:-3.26 [[ 9.82102391e-01 1.56264187e-01 1.05149409e-01 2.58576173e+01] [-1.57083973e-01 9.87585128e-01 -4.91131422e-04 -2.20228038e+00] [-1.03920739e-01 -1.60349455e-02 9.94456314e-01 -3.25596496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:-2.19, Z:-3.27 [[ 9.80562561e-01 1.66842747e-01 1.03249996e-01 2.58893387e+01] [-1.64583793e-01 9.85904193e-01 -3.00848241e-02 -2.18807364e+00] [-1.06814038e-01 1.25067762e-02 9.94200353e-01 -3.26790817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.20, Z:-3.28 [[ 9.80075943e-01 1.68823999e-01 1.04640350e-01 2.59206103e+01] [-1.67638967e-01 9.85643889e-01 -2.00823478e-02 -2.19743471e+00] [-1.06528504e-01 2.14042573e-03 9.94307345e-01 -3.27647514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.95, Y:-2.20, Z:-3.28 [[ 9.79231869e-01 1.73544238e-01 1.04820529e-01 2.59531977e+01] [-1.72883904e-01 9.84821447e-01 -1.54231162e-02 -2.20293723e+00] [-1.05906098e-01 -3.01897534e-03 9.94371552e-01 -3.28152450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.22, Z:-3.27 [[ 9.79191337e-01 1.73018905e-01 1.06060288e-01 2.59842072e+01] [-1.75001957e-01 9.84521149e-01 9.61368224e-03 -2.22224421e+00] [-1.02755248e-01 -2.79743924e-02 9.94313226e-01 -3.27377680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:-2.21, Z:-3.28 [[ 9.78989427e-01 1.76604611e-01 1.01933865e-01 2.60196444e+01] [-1.75845078e-01 9.84280213e-01 -1.64611811e-02 -2.21060809e+00] [-1.03238607e-01 -1.80924625e-03 9.94654974e-01 -3.27828908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:-2.20, Z:-3.29 [[ 9.78648397e-01 1.78077976e-01 1.02642821e-01 2.60484855e+01] [-1.75035242e-01 9.83828640e-01 -3.79983048e-02 -2.20015579e+00] [-1.07749608e-01 1.92208691e-02 9.93992243e-01 -3.29303507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:-2.23, Z:-3.29 [[ 9.79375206e-01 1.72288004e-01 1.05551171e-01 2.60798313e+01] [-1.73566079e-01 9.84817732e-01 2.97516885e-03 -2.22971890e+00] [-1.03436079e-01 -2.12339095e-02 9.94409422e-01 -3.28775389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:-2.21, Z:-3.30 [[ 9.79324456e-01 1.72801997e-01 1.05181172e-01 2.61112640e+01] [-1.70439149e-01 9.84876609e-01 -3.11217096e-02 -2.21122420e+00] [-1.08968370e-01 1.25512618e-02 9.93965975e-01 -3.29982733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:-2.23, Z:-3.31 [[ 9.79564224e-01 1.68287919e-01 1.10150386e-01 2.61418412e+01] [-1.68131692e-01 9.85705683e-01 -1.07722533e-02 -2.22604994e+00] [-1.10388701e-01 -7.96765667e-03 9.93856555e-01 -3.30516207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.24587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:26.17, Y:-2.22, Z:-3.31 [[ 9.79946218e-01 1.67676148e-01 1.07657420e-01 2.61748484e+01] [-1.66228857e-01 9.85834016e-01 -2.23441247e-02 -2.22300866e+00] [-1.09878923e-01 4.00027070e-03 9.93936930e-01 -3.30551035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.24, Z:-3.31 [[ 9.80804324e-01 1.60748396e-01 1.10375864e-01 2.62047483e+01] [-1.61546405e-01 9.86863595e-01 -1.73341844e-03 -2.23920458e+00] [-1.09204567e-01 -1.61306798e-02 9.93888406e-01 -3.30730275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:-2.23, Z:-3.32 [[ 9.81011699e-01 1.61533727e-01 1.07344777e-01 2.62374032e+01] [-1.59283511e-01 9.86798793e-01 -2.92729519e-02 -2.22796685e+00] [-1.10656265e-01 1.16188553e-02 9.93790820e-01 -3.31618245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.33587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.27, Y:-2.24, Z:-3.32 [[ 9.81662069e-01 1.54766512e-01 1.11296489e-01 2.62675553e+01] [-1.54364965e-01 9.87937721e-01 -1.22685270e-02 -2.24358855e+00] [-1.11852757e-01 -5.13673102e-03 9.93711515e-01 -3.32002013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365871560000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:26.30, Y:-2.24, Z:-3.32 [[ 9.82124710e-01 1.53924275e-01 1.08343768e-01 2.63004451e+01] [-1.52315005e-01 9.88063747e-01 -2.30254658e-02 -2.24241438e+00] [-1.10594728e-01 6.11149734e-03 9.93846797e-01 -3.32263998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.33, Y:-2.26, Z:-3.32 [[ 9.82886940e-01 1.48858199e-01 1.08510370e-01 2.63323985e+01] [-1.49537997e-01 9.88754171e-01 -1.89126293e-03 -2.26004039e+00] [-1.07571611e-01 -1.43675257e-02 9.94093518e-01 -3.32181803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.36, Y:-2.26, Z:-3.33 [[ 9.83491602e-01 1.46306373e-01 1.06483396e-01 2.63640193e+01] [-1.45679599e-01 9.89237192e-01 -1.36832994e-02 -2.25898122e+00] [-1.07339290e-01 -2.05504837e-03 9.94220324e-01 -3.32589736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.27, Z:-3.32 [[ 9.83939111e-01 1.44031101e-01 1.05446040e-01 2.63952110e+01] [-1.43766179e-01 9.89559639e-01 -1.01492465e-02 -2.26785453e+00] [-1.05806952e-01 -5.17333365e-03 9.94373232e-01 -3.32426715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.27, Z:-3.33 [[ 9.83890066e-01 1.44782134e-01 1.04873603e-01 2.64274434e+01] [-1.43904904e-01 9.89463391e-01 -1.59240794e-02 -2.26940325e+00] [-1.06074113e-01 5.75717657e-04 9.94358060e-01 -3.32831680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.27, Z:-3.34 [[ 9.83703032e-01 1.45605574e-01 1.05486308e-01 2.64585364e+01] [-1.44017445e-01 9.89317949e-01 -2.25603803e-02 -2.27133102e+00] [-1.07644415e-01 7.00084592e-03 9.94164809e-01 -3.33721161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.28, Z:-3.34 [[ 9.83495630e-01 1.45536532e-01 1.07496345e-01 2.64887180e+01] [-1.44503729e-01 9.89351653e-01 -1.73775448e-02 -2.27949581e+00] [-1.08880755e-01 1.55711657e-03 9.94053598e-01 -3.34410372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:-2.29, Z:-3.35 [[ 9.82932498e-01 1.48124559e-01 1.09100040e-01 2.65213295e+01] [-1.47265397e-01 9.88968631e-01 -1.59358102e-02 -2.28551429e+00] [-1.10257002e-01 -4.02834891e-04 9.93903029e-01 -3.34870306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:-2.30, Z:-3.35 [[ 9.82828245e-01 1.48887479e-01 1.09000730e-01 2.65524167e+01] [-1.49388763e-01 9.88771989e-01 -3.59880879e-03 -2.29759417e+00] [-1.08312686e-01 -1.27464733e-02 9.94035155e-01 -3.34659868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.59, Y:-2.29, Z:-3.35 [[ 9.82534830e-01 1.54078471e-01 1.04331836e-01 2.65861749e+01] [-1.52075807e-01 9.88001788e-01 -2.69335568e-02 -2.28906561e+00] [-1.07229922e-01 1.05968095e-02 9.94177777e-01 -3.35030537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:-2.30, Z:-3.35 [[ 9.81855990e-01 1.56309739e-01 1.07359580e-01 2.66145312e+01] [-1.56162721e-01 9.87682451e-01 -9.82756458e-03 -2.30335677e+00] [-1.07573317e-01 -7.11631100e-03 9.94171685e-01 -3.35365225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.65, Y:-2.30, Z:-3.36 [[ 9.81590974e-01 1.58482789e-01 1.06594393e-01 2.66467185e+01] [-1.57596485e-01 9.87361672e-01 -1.67414477e-02 -2.30344768e+00] [-1.07900450e-01 -3.65647809e-04 9.94161636e-01 -3.35822267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:-2.30, Z:-3.37 [[ 9.80761825e-01 1.62062791e-01 1.08820468e-01 2.66774991e+01] [-1.60362519e-01 9.86760083e-01 -2.42569826e-02 -2.30104252e+00] [-1.11310848e-01 6.33959821e-03 9.93765417e-01 -3.36822192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:-2.31, Z:-3.37 [[ 9.80457414e-01 1.62686317e-01 1.10618356e-01 2.67073102e+01] [-1.61449788e-01 9.86676100e-01 -2.01057015e-02 -2.30604324e+00] [-1.12415411e-01 1.85347387e-03 9.93659569e-01 -3.37437998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:-2.30, Z:-3.38 [[ 9.80366773e-01 1.65448668e-01 1.07274079e-01 2.67378169e+01] [-1.62892483e-01 9.86117278e-01 -3.22297041e-02 -2.30120693e+00] [-1.11117184e-01 1.41227900e-02 9.93706958e-01 -3.38060035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:-2.32, Z:-3.38 [[ 9.79817577e-01 1.63699165e-01 1.14717471e-01 2.67683392e+01] [-1.64879907e-01 9.86313313e-01 8.15615291e-04 -2.32191285e+00] [-1.13013853e-01 -1.97137602e-02 9.93397824e-01 -3.38407351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.80, Y:-2.31, Z:-3.39 [[ 9.79593306e-01 1.67254717e-01 1.11457685e-01 2.68017204e+01] [-1.66159491e-01 9.85913698e-01 -1.91103108e-02 -2.31231736e+00] [-1.13083948e-01 2.00580353e-04 9.93585417e-01 -3.38851930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:-2.31, Z:-3.39 [[ 9.79611032e-01 1.68270048e-01 1.09760725e-01 2.68337540e+01] [-1.67262663e-01 9.85740875e-01 -1.83883114e-02 -2.31324365e+00] [-1.11289835e-01 -3.45478431e-04 9.93787932e-01 -3.39270425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:-2.31, Z:-3.40 [[ 9.79593194e-01 1.68664022e-01 1.09314325e-01 2.68645222e+01] [-1.67080924e-01 9.85661888e-01 -2.35500935e-02 -2.31287606e+00] [-1.11719017e-01 4.80517286e-03 9.93728218e-01 -3.40207984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.33, Z:-3.40 [[ 9.80017559e-01 1.65894463e-01 1.09747949e-01 2.68964161e+01] [-1.66258776e-01 9.86064581e-01 -5.88743454e-03 -2.32679305e+00] [-1.09195258e-01 -1.24767704e-02 9.93942013e-01 -3.40058392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:-2.32, Z:-3.40 [[ 9.80606786e-01 1.64721010e-01 1.06194724e-01 2.69301654e+01] [-1.63775995e-01 9.86340193e-01 -1.76195231e-02 -2.32050392e+00] [-1.07646430e-01 -1.14322646e-04 9.94189234e-01 -3.40292704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:-2.31, Z:-3.41 [[ 9.80765391e-01 1.64799141e-01 1.04596800e-01 2.69607398e+01] [-1.62147950e-01 9.86200281e-01 -3.34222632e-02 -2.31422399e+00] [-1.08661354e-01 1.58192423e-02 9.93952947e-01 -3.41238591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.34, Z:-3.41 [[ 9.81566866e-01 1.55101479e-01 1.11669242e-01 2.69920845e+01] [-1.56280471e-01 9.87711024e-01 1.82943513e-03 -2.33946467e+00] [-1.10013193e-01 -1.92474347e-02 9.93743746e-01 -3.41394631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-2.33, Z:-3.42 [[ 9.81816293e-01 1.55405129e-01 1.09022994e-01 2.70252027e+01] [-1.54218396e-01 9.87848543e-01 -1.92858069e-02 -2.33168864e+00] [-1.10695319e-01 2.12176824e-03 9.93852124e-01 -3.41701713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:-2.34, Z:-3.42 [[ 9.82282568e-01 1.51505652e-01 1.10304099e-01 2.70554424e+01] [-1.51189827e-01 9.88440494e-01 -1.12705644e-02 -2.34079626e+00] [-1.10736593e-01 -5.60597878e-03 9.93833980e-01 -3.41947295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-2.33, Z:-3.43 [[ 9.82943721e-01 1.48142362e-01 1.08974688e-01 2.70866160e+01] [-1.45733434e-01 9.88875228e-01 -2.97917647e-02 -2.33422044e+00] [-1.12175792e-01 1.34023725e-02 9.93597991e-01 -3.42953598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-2.35, Z:-3.43 [[ 9.83205867e-01 1.43712756e-01 1.12484962e-01 2.71169840e+01] [-1.43671663e-01 9.89588785e-01 -8.51410496e-03 -2.35141595e+00] [-1.12537443e-01 -7.78978371e-03 9.93616950e-01 -3.43171165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-2.35, Z:-3.43 [[ 9.83759778e-01 1.42114176e-01 1.09636945e-01 2.71491896e+01] [-1.40759167e-01 9.89841005e-01 -2.00409791e-02 -2.34771219e+00] [-1.11371252e-01 4.28310400e-03 9.93769641e-01 -3.43483035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.36, Z:-3.44 [[ 9.83775088e-01 1.40286750e-01 1.11831141e-01 2.71800067e+01] [-1.39518512e-01 9.90110265e-01 -1.47053449e-02 -2.35604448e+00] [-1.12788126e-01 -1.13576243e-03 9.93618412e-01 -3.44024865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.37, Z:-3.44 [[ 9.84098418e-01 1.38883705e-01 1.10732202e-01 2.72099377e+01] [-1.39092892e-01 9.90261932e-01 -5.87137845e-03 -2.36690787e+00] [-1.10469323e-01 -9.62404803e-03 9.93832937e-01 -3.43869279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.26587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.35, Z:-3.45 [[ 0.98387848 0.14462469 0.10519902 27.24214363] [-0.14058654 0.98905077 -0.04487767 -2.3480503 ] [-0.11053759 0.0293646 0.99343805 -3.44735117] [ 0. 0. 0. 1. ]] SLAMing on 30.295871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.27, Y:-2.38, Z:-3.45 [[ 9.83346743e-01 1.40357735e-01 1.15450812e-01 2.72719599e+01] [-1.41809944e-01 9.89884029e-01 4.42150498e-03 -2.37982033e+00] [-1.13662323e-01 -2.07199457e-02 9.93303358e-01 -3.45159858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.37, Z:-3.45 [[ 9.83123491e-01 1.44580368e-01 1.12092456e-01 2.73047660e+01] [-1.43117315e-01 9.89482199e-01 -2.10335893e-02 -2.36847421e+00] [-1.13954534e-01 4.63624437e-03 9.93475148e-01 -3.45456894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.34, Y:-2.37, Z:-3.46 [[ 9.82942405e-01 1.45195187e-01 1.12883063e-01 2.73360302e+01] [-1.43732455e-01 9.89393023e-01 -2.10339787e-02 -2.37313229e+00] [-1.14739748e-01 4.45022983e-03 9.93385618e-01 -3.45994978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:-2.38, Z:-3.46 [[ 9.82911907e-01 1.45410023e-01 1.12872092e-01 2.73673425e+01] [-1.44401389e-01 9.89371346e-01 -1.71049005e-02 -2.38115513e+00] [-1.14159638e-01 5.13723527e-04 9.93462286e-01 -3.46353909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:-2.39, Z:-3.47 [[ 9.82808345e-01 1.45295759e-01 1.13916199e-01 2.73979044e+01] [-1.44552389e-01 9.89386408e-01 -1.48034684e-02 -2.38770076e+00] [-1.14858020e-01 -1.91788639e-03 9.93380067e-01 -3.46812192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.39, Z:-3.47 [[ 9.82729119e-01 1.46861185e-01 1.12584508e-01 2.74298906e+01] [-1.45575457e-01 9.89152936e-01 -1.96024440e-02 -2.38939647e+00] [-1.14242135e-01 2.87435134e-03 9.93448777e-01 -3.47187559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.39, Z:-3.48 [[ 9.82879924e-01 1.47510706e-01 1.10397678e-01 2.74624113e+01] [-1.45805013e-01 9.89036289e-01 -2.34119152e-02 -2.39191230e+00] [-1.12640818e-01 6.91456645e-03 9.93611712e-01 -3.47602059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.40, Z:-3.48 [[ 9.82930009e-01 1.46922022e-01 1.10736246e-01 2.74936578e+01] [-1.45910739e-01 9.89147774e-01 -1.72260411e-02 -2.40085868e+00] [-1.12065397e-01 7.74385141e-04 9.93700532e-01 -3.48108143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.53, Y:-2.41, Z:-3.49 [[ 9.82750332e-01 1.47616619e-01 1.11405196e-01 2.75257278e+01] [-1.46524176e-01 9.89043746e-01 -1.79759265e-02 -2.40670786e+00] [-1.12838158e-01 1.34229320e-03 9.93612474e-01 -3.48544137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:-2.41, Z:-3.49 [[ 9.82802407e-01 1.49236995e-01 1.08755450e-01 2.75565385e+01] [-1.47098504e-01 9.88740236e-01 -2.74731799e-02 -2.40642967e+00] [-1.11630904e-01 1.10029434e-02 9.93688823e-01 -3.48997738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595871560000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.42, Z:-3.50 [[ 9.82721949e-01 1.47703835e-01 1.11539891e-01 2.75875288e+01] [-1.46711150e-01 9.89031537e-01 -1.71013635e-02 -2.42048827e+00] [-1.12842407e-01 4.41739691e-04 9.93612800e-01 -3.49631756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:-2.43, Z:-3.50 [[ 9.82821014e-01 1.46275947e-01 1.12544218e-01 2.76205531e+01] [-1.46257670e-01 9.89210319e-01 -8.46391455e-03 -2.43115610e+00] [-1.12567969e-01 -8.14194208e-03 9.93610669e-01 -3.49749343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.43, Z:-3.50 [[ 9.82560130e-01 1.46758917e-01 1.14181486e-01 2.76515688e+01] [-1.46248581e-01 9.89164025e-01 -1.28796334e-02 -2.43394100e+00] [-1.14834419e-01 -4.04386607e-03 9.93376416e-01 -3.50261378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-2.44, Z:-3.51 [[ 9.82569454e-01 1.47620056e-01 1.12984901e-01 2.76842801e+01] [-1.46204839e-01 9.89036548e-01 -2.07569524e-02 -2.43519873e+00] [-1.14810339e-01 3.87620815e-03 9.93379867e-01 -3.50804957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.44, Z:-3.51 [[ 9.82660806e-01 1.47018490e-01 1.12974792e-01 2.77159044e+01] [-1.45947654e-01 9.89133296e-01 -1.77370916e-02 -2.44326802e+00] [-1.14354808e-01 9.41138944e-04 9.93439526e-01 -3.51224732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:-2.45, Z:-3.52 [[ 9.82815142e-01 1.46599302e-01 1.12174159e-01 2.77459066e+01] [-1.45522082e-01 9.89195294e-01 -1.77762273e-02 -2.45261102e+00] [-1.13568133e-01 1.14692816e-03 9.93529549e-01 -3.51725112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.46, Z:-3.52 [[ 9.82897096e-01 1.46968739e-01 1.10966159e-01 2.77775207e+01] [-1.45517740e-01 9.89130443e-01 -2.11081537e-02 -2.45802974e+00] [-1.12862245e-01 4.59959825e-03 9.93599999e-01 -3.52141347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.47, Z:-3.53 [[ 9.82767621e-01 1.46365057e-01 1.12894079e-01 2.78069761e+01] [-1.45521700e-01 9.89230161e-01 -1.57201690e-02 -2.46876917e+00] [-1.13979111e-01 -9.79265177e-04 9.93482664e-01 -3.52573885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.47, Z:-3.53 [[ 9.82695167e-01 1.47527680e-01 1.12007998e-01 2.78377600e+01] [-1.46004210e-01 9.89045288e-01 -2.17299219e-02 -2.47166785e+00] [-1.13986747e-01 5.00024994e-03 9.93469687e-01 -3.52943024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865871560000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.48, Z:-3.53 [[ 9.82662679e-01 1.47998243e-01 1.11671750e-01 2.78687264e+01] [-1.46572658e-01 9.88978771e-01 -2.09152293e-02 -2.47932766e+00] [-1.13536407e-01 4.18459007e-03 9.93525024e-01 -3.53489697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.50, Z:-3.54 [[ 9.82223719e-01 1.48058655e-01 1.15391514e-01 2.78991316e+01] [-1.48431509e-01 9.88907932e-01 -5.40273310e-03 -2.49688237e+00] [-1.14911505e-01 -1.18210439e-02 9.93305396e-01 -3.53900324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.49, Z:-3.54 [[ 9.82029156e-01 1.52543206e-01 1.11127433e-01 2.79310092e+01] [-1.50816412e-01 9.88274467e-01 -2.38324756e-02 -2.49226507e+00] [-1.13459887e-01 6.64434516e-03 9.93520360e-01 -3.54243325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.50, Z:-3.55 [[ 9.81782986e-01 1.53469934e-01 1.12022982e-01 2.79616627e+01] [-1.52605678e-01 9.88152715e-01 -1.63008853e-02 -2.50250401e+00] [-1.13197509e-01 -1.09141131e-03 9.93571906e-01 -3.54686610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.51, Z:-3.54 [[ 9.81268383e-01 1.58578444e-01 1.09385728e-01 2.79928621e+01] [-1.57766326e-01 9.87345296e-01 -1.60950901e-02 -2.50909023e+00] [-1.10553818e-01 -1.46378140e-03 9.93869061e-01 -3.54412780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.51, Z:-3.55 [[ 9.80350195e-01 1.61110961e-01 1.13827731e-01 2.80254961e+01] [-1.60097793e-01 9.86936156e-01 -1.80477067e-02 -2.51416796e+00] [-1.15248387e-01 -5.30495815e-04 9.93336563e-01 -3.55398072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.52, Z:-3.55 [[ 9.79264484e-01 1.65533673e-01 1.16789012e-01 2.80563146e+01] [-1.65623369e-01 9.86147971e-01 -9.00438279e-03 -2.52381678e+00] [-1.16661776e-01 -1.05253175e-02 9.93115929e-01 -3.55432225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.51, Z:-3.56 [[ 9.78824335e-01 1.72893411e-01 1.09593748e-01 2.80875939e+01] [-1.69689220e-01 9.84765115e-01 -3.79899548e-02 -2.51047022e+00] [-1.14492313e-01 1.85886145e-02 9.93250207e-01 -3.55925681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.53, Z:-3.56 [[ 9.78537416e-01 1.71305411e-01 1.14538128e-01 2.81183395e+01] [-1.71949919e-01 9.85096293e-01 -4.30333716e-03 -2.53439536e+00] [-1.13568270e-01 -1.54838453e-02 9.93409532e-01 -3.55984631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.52, Z:-3.57 [[ 9.77404718e-01 1.79953311e-01 1.10891041e-01 2.81504142e+01] [-1.77590179e-01 9.83618881e-01 -3.09131878e-02 -2.52266665e+00] [-1.14637452e-01 1.05215357e-02 9.93351676e-01 -3.56853542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.54, Z:-3.57 [[ 9.76925608e-01 1.78474183e-01 1.17317186e-01 2.81810104e+01] [-1.78904233e-01 9.83842010e-01 -6.94078008e-03 -2.54096323e+00] [-1.16660326e-01 -1.42079153e-02 9.93070241e-01 -3.57437650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.53, Z:-3.58 [[ 9.76388616e-01 1.85566095e-01 1.10591568e-01 2.82137564e+01] [-1.83476310e-01 9.82600028e-01 -2.88726242e-02 -2.52770385e+00] [-1.14025058e-01 7.89996879e-03 9.93446464e-01 -3.57697121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.54, Z:-3.58 [[ 9.76281773e-01 1.85615907e-01 1.11447904e-01 2.82456400e+01] [-1.84840556e-01 9.82615521e-01 -1.73408926e-02 -2.53739723e+00] [-1.12729186e-01 -3.67049522e-03 9.93618970e-01 -3.58151085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.54, Z:-3.59 [[ 9.76149880e-01 1.86680728e-01 1.10822912e-01 2.82773440e+01] [-1.85918458e-01 9.82413477e-01 -1.72652315e-02 -2.54063111e+00] [-1.12097008e-01 -3.75057118e-03 9.93690190e-01 -3.58538194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.54, Z:-3.59 [[ 9.76149259e-01 1.86902513e-01 1.10453946e-01 2.83099323e+01] [-1.86144494e-01 9.82371333e-01 -1.72276401e-02 -2.54173630e+00] [-1.11726679e-01 -3.74364583e-03 9.93731923e-01 -3.58983808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.55, Z:-3.59 [[ 9.76332065e-01 1.86040003e-01 1.10294229e-01 2.83416666e+01] [-1.85276260e-01 9.82535509e-01 -1.72244324e-02 -2.54506108e+00] [-1.11572429e-01 -3.61813655e-03 9.93749718e-01 -3.59445291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.55, Z:-3.60 [[ 9.76434741e-01 1.84497235e-01 1.11964131e-01 2.83733374e+01] [-1.83697675e-01 9.82826893e-01 -1.75060783e-02 -2.54582412e+00] [-1.13271182e-01 -3.47400757e-03 9.93558036e-01 -3.59753769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.55, Z:-3.60 [[ 9.76419689e-01 1.84578830e-01 1.11960918e-01 2.84061710e+01] [-1.83777452e-01 9.82811613e-01 -1.75266035e-02 -2.55109610e+00] [-1.13271530e-01 -3.46257149e-03 9.93558036e-01 -3.60168892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.55, Z:-3.61 [[ 9.76851304e-01 1.82597083e-01 1.11444317e-01 2.84375401e+01] [-1.81789313e-01 9.83182590e-01 -1.74539683e-02 -2.55388084e+00] [-1.12757156e-01 -3.20945413e-03 9.93617393e-01 -3.60622147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.56, Z:-3.61 [[ 9.76970988e-01 1.81596159e-01 1.12029122e-01 2.84701247e+01] [-1.80771061e-01 9.83368335e-01 -1.75653551e-02 -2.55705424e+00] [-1.13355692e-01 -3.09078087e-03 9.93549664e-01 -3.60910655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.56, Z:-3.61 [[ 9.77472577e-01 1.76280212e-01 1.16071734e-01 2.85029673e+01] [-1.76370307e-01 9.84277308e-01 -9.57574759e-03 -2.56328992e+00] [-1.15934788e-01 -1.11115766e-02 9.93194673e-01 -3.61462584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.56, Z:-3.61 [[ 9.78011008e-01 1.75880939e-01 1.12073029e-01 2.85348760e+01] [-1.74882131e-01 9.84410649e-01 -1.87593744e-02 -2.56061950e+00] [-1.13625299e-01 -1.25269544e-03 9.93522885e-01 -3.61469245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.58, Z:-3.61 [[ 9.79512485e-01 1.66902084e-01 1.12689777e-01 2.85657378e+01] [-1.69463825e-01 9.85444193e-01 1.34816417e-02 -2.57960275e+00] [-1.08799373e-01 -3.23022771e-02 9.93538756e-01 -3.60697217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.54, Z:-3.62 [[ 0.97898509 0.17390551 0.10651318 28.60166943] [-0.16876842 0.98408916 -0.05554955 -2.54342761] [-0.11447884 0.03640612 0.99275837 -3.62152235] [ 0. 0. 0. 1. ]] SLAMing on 31.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.57, Z:-3.63 [[ 9.79352556e-01 1.67562728e-01 1.13098644e-01 2.86305208e+01] [-1.66620605e-01 9.85860405e-01 -1.77998973e-02 -2.56983120e+00] [-1.14482074e-01 -1.41218950e-03 9.93424310e-01 -3.62860021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615871560000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.57, Z:-3.63 [[ 9.80133623e-01 1.63525082e-01 1.12239161e-01 2.86618654e+01] [-1.62568285e-01 9.86538757e-01 -1.76871277e-02 -2.57329449e+00] [-1.13620571e-01 -9.10779413e-04 9.93523798e-01 -3.63238871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.64587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.58, Z:-3.64 [[ 9.80546382e-01 1.61796404e-01 1.11133781e-01 2.86943643e+01] [-1.60845927e-01 9.86823919e-01 -1.75254520e-02 -2.57777041e+00] [-1.12505028e-01 -6.90897501e-04 9.93650915e-01 -3.63619941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.58, Z:-3.64 [[ 9.80926886e-01 1.58922101e-01 1.11920556e-01 2.87267315e+01] [-1.57936947e-01 9.87291066e-01 -1.76712237e-02 -2.58123022e+00] [-1.13306513e-01 -3.42212410e-04 9.93560022e-01 -3.64055276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.59, Z:-3.64 [[ 9.81208825e-01 1.57091143e-01 1.12033986e-01 2.87583888e+01] [-1.56089621e-01 9.87584103e-01 -1.77107086e-02 -2.58580616e+00] [-1.13425179e-01 -1.09438870e-04 9.93546535e-01 -3.64480822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.60, Z:-3.65 [[ 9.81447058e-01 1.54432351e-01 1.13632398e-01 2.87894957e+01] [-1.54442096e-01 9.87962907e-01 -8.77120827e-03 -2.59543244e+00] [-1.13619152e-01 -8.94114917e-03 9.93484144e-01 -3.64676832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.61, Z:-3.64 [[ 9.82403845e-01 1.50546653e-01 1.10536830e-01 2.88195705e+01] [-1.52795439e-01 9.88183583e-01 1.21144784e-02 -2.61060572e+00] [-1.07406887e-01 -2.87908337e-02 9.93798193e-01 -3.63527644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795871560000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:28.86, Y:-2.58, Z:-3.65 [[ 0.98227946 0.1558633 0.10408506 28.85668159] [-0.15082335 0.98704614 -0.05470134 -2.57617104] [-0.11126268 0.03803354 0.99306297 -3.65215679] [ 0. 0. 0. 1. ]] SLAMing on 31.825871560000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:-2.60, Z:-3.66 [[ 9.82283627e-01 1.51313941e-01 1.10557527e-01 2.88854129e+01] [-1.50297246e-01 9.88485578e-01 -1.75214136e-02 -2.60415040e+00] [-1.11935755e-01 5.94505800e-04 9.93715268e-01 -3.66034045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.63, Z:-3.65 [[ 9.83585376e-01 1.43684216e-01 1.09154270e-01 2.89138553e+01] [-1.47329177e-01 9.88744314e-01 2.60536887e-02 -2.63193571e+00] [-1.04182160e-01 -4.17076359e-02 9.93683325e-01 -3.64542331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885871560000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.60, Z:-3.66 [[ 0.98274721 0.15213703 0.10517723 28.95109817] [-0.14782173 0.98786212 -0.04771962 -2.59515593] [-0.11116052 0.03134884 0.9933079 -3.66196088] [ 0. 0. 0. 1. ]] SLAMing on 31.915871560000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.64, Z:-3.65 [[ 9.83651963e-01 1.43002782e-01 1.09448713e-01 2.89762322e+01] [-1.45507749e-01 9.89240165e-01 1.52115718e-02 -2.63518986e+00] [-1.06095766e-01 -3.08885284e-02 9.93876042e-01 -3.65417586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.94587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.63, Z:-3.65 [[ 9.83616348e-01 1.44657539e-01 1.07578238e-01 2.90111615e+01] [-1.44329636e-01 9.89469966e-01 -1.08693113e-02 -2.62541014e+00] [-1.08017763e-01 -4.83549563e-03 9.94137204e-01 -3.65445425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.61, Z:-3.67 [[ 0.98302575 0.14868334 0.10748783 29.04375422] [-0.14415006 0.98835061 -0.04882456 -2.61006681] [-0.11349506 0.03250142 0.99300681 -3.67029776] [ 0. 0. 0. 1. ]] SLAMing on 32.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.65, Z:-3.66 [[ 9.83721412e-01 1.41924031e-01 1.10225916e-01 2.90696043e+01] [-1.43319214e-01 9.89664880e-01 4.79878281e-03 -2.64504273e+00] [-1.08405656e-01 -2.05181571e-02 9.93894974e-01 -3.66468617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.63, Z:-3.68 [[ 9.83238587e-01 1.47171778e-01 1.07621326e-01 2.91032328e+01] [-1.44487015e-01 9.88976914e-01 -3.23753883e-02 -2.62938810e+00] [-1.11199751e-01 1.62828468e-02 9.93664674e-01 -3.67520494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.64, Z:-3.68 [[ 9.83240104e-01 1.46446324e-01 1.08592686e-01 2.91319167e+01] [-1.45382019e-01 9.89217302e-01 -1.76973785e-02 -2.64407879e+00] [-1.10013480e-01 1.61334834e-03 9.93928786e-01 -3.68086405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.66, Z:-3.68 [[ 9.83559505e-01 1.45317214e-01 1.07208242e-01 2.91622745e+01] [-1.45662584e-01 9.89323427e-01 -4.64427390e-03 -2.65718101e+00] [-1.06738519e-01 -1.10483099e-02 9.94225741e-01 -3.67704251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.65, Z:-3.69 [[ 9.82987815e-01 1.49438925e-01 1.06784659e-01 2.91938238e+01] [-1.47581898e-01 9.88730505e-01 -2.51311048e-02 -2.65238914e+00] [-1.09336815e-01 8.94408720e-03 9.93964519e-01 -3.68800194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.67, Z:-3.69 [[ 9.83208887e-01 1.46935903e-01 1.08213329e-01 2.92231217e+01] [-1.47582696e-01 9.89047592e-01 -2.05134116e-03 -2.67229617e+00] [-1.07329549e-01 -1.39535181e-02 9.94125579e-01 -3.68615206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.67, Z:-3.69 [[ 9.83035388e-01 1.49437113e-01 1.06348367e-01 2.92562901e+01] [-1.48188198e-01 9.88765025e-01 -1.95954939e-02 -2.66883133e+00] [-1.08081840e-01 3.50349109e-03 9.94135826e-01 -3.68908068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.28, Y:-2.68, Z:-3.69 [[ 9.83073679e-01 1.48738858e-01 1.06971458e-01 2.92832614e+01] [-1.48389465e-01 9.88864857e-01 -1.12633083e-02 -2.68024416e+00] [-1.07455607e-01 -4.80077545e-03 9.94198293e-01 -3.69077377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.68, Z:-3.70 [[ 9.82868376e-01 1.50766700e-01 1.06014891e-01 2.93145498e+01] [-1.48414649e-01 9.88476678e-01 -2.97816871e-02 -2.67749739e+00] [-1.09283334e-01 1.35373156e-02 9.93918454e-01 -3.69903083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.34, Y:-2.70, Z:-3.70 [[ 9.83148335e-01 1.47006567e-01 1.08666555e-01 2.93440167e+01] [-1.46951598e-01 9.89106663e-01 -8.55788701e-03 -2.69743432e+00] [-1.08740879e-01 -7.55505148e-03 9.94041419e-01 -3.70086345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:-2.70, Z:-3.71 [[ 9.82796080e-01 1.48578079e-01 1.09710616e-01 2.93735096e+01] [-1.47228037e-01 9.88893192e-01 -2.03509290e-02 -2.69901264e+00] [-1.11515783e-01 3.84833457e-03 9.93755212e-01 -3.70851140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.69, Z:-3.72 [[ 0.982725 0.15134705 0.10651597 29.40726461] [-0.14620151 0.98774646 -0.05460807 -2.6907136 ] [-0.11347554 0.03809192 0.99281031 -3.72448266] [ 0. 0. 0. 1. ]] SLAMing on 32.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-2.74, Z:-3.72 [[ 9.82962706e-01 1.42648885e-01 1.15912097e-01 2.94296008e+01] [-1.46055915e-01 9.89044684e-01 2.14075628e-02 -2.74161829e+00] [-1.11588478e-01 -3.79724832e-02 9.93028752e-01 -3.71599855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:-2.73, Z:-3.72 [[ 9.82653207e-01 1.49892031e-01 1.09201894e-01 2.94662542e+01] [-1.48527641e-01 9.88694307e-01 -2.05695592e-02 -2.72921105e+00] [-1.11050504e-01 3.99324361e-03 9.93806742e-01 -3.71835900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.74, Z:-3.72 [[ 9.82389929e-01 1.50593490e-01 1.10596688e-01 2.94943764e+01] [-1.50086206e-01 9.88588153e-01 -1.29458027e-02 -2.74094972e+00] [-1.11284129e-01 -3.88121107e-03 9.93781052e-01 -3.72282785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-2.75, Z:-3.73 [[ 9.81813338e-01 1.53538978e-01 1.11661778e-01 2.95259506e+01] [-1.52495161e-01 9.88142451e-01 -1.78807721e-02 -2.74598725e+00] [-1.13083138e-01 5.27699784e-04 9.93585389e-01 -3.73014900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.76, Z:-3.73 [[ 9.80860122e-01 1.57564882e-01 1.14397238e-01 2.95546449e+01] [-1.57624884e-01 9.87461801e-01 -8.57834771e-03 -2.76121356e+00] [-1.14314549e-01 -9.61769217e-03 9.93398049e-01 -3.73428465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.59, Y:-2.76, Z:-3.74 [[ 9.80461732e-01 1.63824085e-01 1.08887376e-01 2.95865307e+01] [-1.61501742e-01 9.86420106e-01 -2.98757644e-02 -2.75683659e+00] [-1.12303067e-01 1.17065428e-02 9.93605041e-01 -3.73631858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.77, Z:-3.74 [[ 9.79919414e-01 1.65564694e-01 1.11113787e-01 2.96158805e+01] [-1.64686976e-01 9.86197718e-01 -1.70956122e-02 -2.77164538e+00] [-1.12410593e-01 -1.54667134e-03 9.93660639e-01 -3.74175844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.78, Z:-3.75 [[ 9.78409860e-01 1.72676314e-01 1.13565121e-01 2.96449542e+01] [-1.71538967e-01 9.84978617e-01 -1.97865349e-02 -2.77835663e+00] [-1.15275881e-01 -1.21502625e-04 9.93333507e-01 -3.75101373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.79, Z:-3.75 [[ 9.78192140e-01 1.75333633e-01 1.11347450e-01 2.96777360e+01] [-1.74626153e-01 9.84502327e-01 -1.61516002e-02 -2.78679851e+00] [-1.12453743e-01 -3.64480853e-03 9.93650276e-01 -3.74981004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:-2.80, Z:-3.76 [[ 9.76487848e-01 1.79832408e-01 1.18877195e-01 2.97070113e+01] [-1.79782637e-01 9.83642238e-01 -1.12316950e-02 -2.79624061e+00] [-1.18952453e-01 -1.04044418e-02 9.92845437e-01 -3.76203065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.79, Z:-3.76 [[ 9.76199810e-01 1.84532844e-01 1.13936647e-01 2.97383850e+01] [-1.82644869e-01 9.82811324e-01 -2.68840835e-02 -2.79264121e+00] [-1.16939223e-01 5.43429329e-03 9.93124205e-01 -3.76333085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.80, Z:-3.77 [[ 9.75888269e-01 1.85943957e-01 1.14310675e-01 2.97688838e+01] [-1.84697982e-01 9.82560342e-01 -2.14902403e-02 -2.80135059e+00] [-1.16313117e-01 -1.40877720e-04 9.93212585e-01 -3.76805137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.79, Z:-3.78 [[ 9.75455510e-01 1.92710160e-01 1.06533293e-01 2.98042144e+01] [-1.88278755e-01 9.80827100e-01 -5.02922449e-02 -2.79013575e+00] [-1.14182567e-01 2.89998916e-02 9.93036428e-01 -3.77701788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.83, Z:-3.78 [[ 9.75034682e-01 1.86558157e-01 1.20430160e-01 2.98277031e+01] [-1.89273234e-01 9.81858144e-01 1.14117742e-02 -2.83006570e+00] [-1.16116374e-01 -3.39210815e-02 9.92656208e-01 -3.77992608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.87, Y:-2.80, Z:-3.78 [[ 9.75140997e-01 1.94831356e-01 1.05549891e-01 2.98673737e+01] [-1.90756519e-01 9.80486814e-01 -4.75137636e-02 -2.80004187e+00] [-1.12747447e-01 2.61982891e-02 9.93278240e-01 -3.78485918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.82, Z:-3.79 [[ 9.75144098e-01 1.91928621e-01 1.10713107e-01 2.98954237e+01] [-1.91111015e-01 9.81402443e-01 -1.80506123e-02 -2.82080400e+00] [-1.12118543e-01 -3.55654614e-03 9.93688474e-01 -3.79074988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.82, Z:-3.80 [[ 9.75398407e-01 1.91568310e-01 1.09084968e-01 2.99270421e+01] [-1.90770200e-01 9.81473242e-01 -1.78046576e-02 -2.82374242e+00] [-1.10474785e-01 -3.44352659e-03 9.93872962e-01 -3.79514309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.83, Z:-3.80 [[ 9.75695874e-01 1.90545307e-01 1.08212971e-01 2.99586524e+01] [-1.89751313e-01 9.81672924e-01 -1.76836038e-02 -2.82841810e+00] [-1.09599271e-01 -3.27973410e-03 9.93970444e-01 -3.79934605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.85, Z:-3.80 [[ 9.76261596e-01 1.82406967e-01 1.16794671e-01 2.99845615e+01] [-1.85304129e-01 9.82576373e-01 1.43544909e-02 -2.85023296e+00] [-1.12141325e-01 -3.56562729e-02 9.93052342e-01 -3.79689361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.82, Z:-3.80 [[ 9.76699241e-01 1.87501831e-01 1.04410994e-01 3.00247038e+01] [-1.83163344e-01 9.81821240e-01 -4.97819371e-02 -2.81873406e+00] [-1.11847136e-01 2.94977134e-02 9.93287523e-01 -3.80442545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.84, Z:-3.81 [[ 9.77513020e-01 1.79839168e-01 1.10118884e-01 3.00538830e+01] [-1.78945399e-01 9.83693822e-01 -1.80279860e-02 -2.84186057e+00] [-1.11565404e-01 -2.08267653e-03 9.93754911e-01 -3.80992658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.86, Z:-3.81 [[ 9.78672294e-01 1.67898985e-01 1.18365839e-01 3.00802999e+01] [-1.70289011e-01 9.85340299e-01 1.03028124e-02 -2.86297739e+00] [-1.14900799e-01 -3.02394787e-02 9.92916603e-01 -3.80995458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.84, Z:-3.82 [[ 9.79614844e-01 1.70491612e-01 1.06242022e-01 3.01193059e+01] [-1.66380691e-01 9.84965009e-01 -4.64908138e-02 -2.83642576e+00] [-1.12570968e-01 2.78664703e-02 9.93252856e-01 -3.81609561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.86, Z:-3.82 [[ 9.81046967e-01 1.59416102e-01 1.10151512e-01 3.01477890e+01] [-1.58388451e-01 9.87211439e-01 -1.80741038e-02 -2.86012403e+00] [-1.11624136e-01 2.84817447e-04 9.93750457e-01 -3.82290954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.88, Z:-3.82 [[ 9.81156462e-01 1.53318215e-01 1.17581976e-01 3.01734549e+01] [-1.55191212e-01 9.87860440e-01 6.88763551e-03 -2.87971026e+00] [-1.15098583e-01 -2.50055375e-02 9.93039294e-01 -3.82442017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.87, Z:-3.83 [[ 9.82083323e-01 1.50977639e-01 1.12774551e-01 3.02074341e+01] [-1.49962229e-01 9.88537145e-01 -1.74826688e-02 -2.87313168e+00] [-1.14121324e-01 2.57514516e-04 9.93466787e-01 -3.82833188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.24, Y:-2.88, Z:-3.83 [[ 9.82196740e-01 1.48813959e-01 1.14647153e-01 3.02380553e+01] [-1.47789182e-01 9.88865194e-01 -1.74351643e-02 -2.88073072e+00] [-1.15965175e-01 1.81152669e-04 9.93253264e-01 -3.83363439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.87, Z:-3.84 [[ 9.82980927e-01 1.49808995e-01 1.06328560e-01 3.02729599e+01] [-1.45943532e-01 9.88345180e-01 -4.32930750e-02 -2.87430241e+00] [-1.11575012e-01 2.70383015e-02 9.93388115e-01 -3.83881891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.90, Z:-3.85 [[ 9.83137311e-01 1.44865198e-01 1.11602425e-01 3.03012797e+01] [-1.43704804e-01 9.89449242e-01 -1.84154236e-02 -2.89623174e+00] [-1.13092689e-01 2.06708547e-03 9.93582292e-01 -3.84500225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.91, Z:-3.85 [[ 9.83758598e-01 1.41407463e-01 1.10557455e-01 3.03330709e+01] [-1.40244743e-01 9.89948418e-01 -1.82631035e-02 -2.90551329e+00] [-1.12028717e-01 2.46138327e-03 9.93701921e-01 -3.84796335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:-2.91, Z:-3.85 [[ 9.83867577e-01 1.40685322e-01 1.10508968e-01 3.03652344e+01] [-1.39516677e-01 9.90051043e-01 -1.82764787e-02 -2.91368172e+00] [-1.11980752e-01 2.56379078e-03 9.93707069e-01 -3.85218347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.40, Y:-2.92, Z:-3.86 [[ 9.83835313e-01 1.40640417e-01 1.10852831e-01 3.03963780e+01] [-1.39461634e-01 9.90057330e-01 -1.83558297e-02 -2.92141837e+00] [-1.12332230e-01 2.59939651e-03 9.93667305e-01 -3.85603921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:-2.93, Z:-3.86 [[ 9.83817086e-01 1.40770638e-01 1.10849305e-01 3.04291063e+01] [-1.39590284e-01 9.90038805e-01 -1.83770971e-02 -2.92699430e+00] [-1.12332069e-01 2.60621617e-03 9.93667305e-01 -3.86061922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.46, Y:-2.94, Z:-3.86 [[ 9.83560731e-01 1.42335971e-01 1.11124977e-01 3.04596647e+01] [-1.41157936e-01 9.89815374e-01 -1.84380617e-02 -2.93737963e+00] [-1.12617610e-01 2.44878103e-03 9.93635385e-01 -3.86340913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.49, Y:-2.95, Z:-3.87 [[ 9.83321459e-01 1.44002132e-01 1.11095876e-01 3.04913580e+01] [-1.42834002e-01 9.89574776e-01 -1.84447793e-02 -2.94516081e+00] [-1.12593764e-01 2.26887878e-03 9.93638514e-01 -3.86806443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.95, Z:-3.87 [[ 9.82985447e-01 1.46188416e-01 1.11214016e-01 3.05217520e+01] [-1.45029136e-01 9.89254654e-01 -1.84872471e-02 -2.95304007e+00] [-1.12721604e-01 2.04342230e-03 9.93624509e-01 -3.87269964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.96, Z:-3.88 [[ 9.82246063e-01 1.51309443e-01 1.10896906e-01 3.05530489e+01] [-1.50186937e-01 9.88485349e-01 -1.84553395e-02 -2.96269113e+00] [-1.12412434e-01 1.47241789e-03 9.93660544e-01 -3.87662946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.97, Z:-3.88 [[ 9.81668960e-01 1.54716189e-01 1.11305674e-01 3.05837332e+01] [-1.53604717e-01 9.87958336e-01 -1.85450211e-02 -2.97003580e+00] [-1.12834584e-01 1.10799497e-03 9.93613169e-01 -3.88108213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.99, Z:-3.88 [[ 9.80319248e-01 1.55756130e-01 1.21302099e-01 3.06082259e+01] [-1.57840664e-01 9.87434493e-01 7.71021757e-03 -2.99263622e+00] [-1.18576963e-01 -2.67048785e-02 9.92585691e-01 -3.88388590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535871560000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.99, Z:-3.89 [[ 9.78547857e-01 1.65344010e-01 1.22904229e-01 3.06397801e+01] [-1.65112517e-01 9.86200047e-01 -1.21376729e-02 -2.98943702e+00] [-1.23215048e-01 -8.41573277e-03 9.92344309e-01 -3.89202159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.97, Z:-3.89 [[ 0.97873148 0.17409181 0.10852064 30.67641519] [-0.16939485 0.98421926 -0.05116484 -2.97367793] [-0.11571548 0.0316938 0.99277663 -3.89456109] [ 0. 0. 0. 1. ]] SLAMing on 33.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:-3.01, Z:-3.90 [[ 9.76581371e-01 1.74245179e-01 1.26203974e-01 3.06993556e+01] [-1.76442461e-01 9.84290413e-01 6.35924306e-03 -3.01264560e+00] [-1.23113294e-01 -2.84780580e-02 9.91983930e-01 -3.90192468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.99, Z:-3.90 [[ 9.76544453e-01 1.84800208e-01 1.10498031e-01 3.07378681e+01] [-1.80779388e-01 9.82472971e-01 -4.54496894e-02 -2.98873791e+00] [-1.16960441e-01 2.44078756e-02 9.92836598e-01 -3.90400916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.77, Y:-3.01, Z:-3.91 [[ 9.76050693e-01 1.84724986e-01 1.14898753e-01 3.07675917e+01] [-1.83727884e-01 9.82787628e-01 -1.93013658e-02 -3.00821150e+00] [-1.16486517e-01 -2.27099324e-03 9.93189677e-01 -3.90854375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:-3.02, Z:-3.91 [[ 9.75271851e-01 1.85956617e-01 1.19435980e-01 3.07955326e+01] [-1.86977459e-01 9.82360491e-01 -2.70087497e-03 -3.02123598e+00] [-1.17831433e-01 -1.96977486e-02 9.92838231e-01 -3.91119258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:-3.01, Z:-3.92 [[ 9.74030644e-01 1.93574619e-01 1.17444335e-01 3.08295336e+01] [-1.91964033e-01 9.81083924e-01 -2.49828649e-02 -3.01055580e+00] [-1.20058797e-01 1.78898776e-03 9.92765171e-01 -3.92007241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:-3.01, Z:-3.92 [[ 9.74008329e-01 1.95991206e-01 1.13557136e-01 3.08635986e+01] [-1.93731883e-01 9.80573731e-01 -3.07101806e-02 -3.01091973e+00] [-1.17370070e-01 7.91233386e-03 9.93056726e-01 -3.92165266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:-3.02, Z:-3.93 [[ 9.74112969e-01 1.94533824e-01 1.15154308e-01 3.08937833e+01] [-1.93593200e-01 9.80889953e-01 -1.94055038e-02 -3.02211882e+00] [-1.16728731e-01 -3.38993812e-03 9.93158050e-01 -3.92613056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:-3.03, Z:-3.93 [[ 9.73891992e-01 1.93245834e-01 1.19123614e-01 3.09228000e+01] [-1.93237569e-01 9.81081863e-01 -1.17311936e-02 -3.03097661e+00] [-1.19137021e-01 -1.15942420e-02 9.92810125e-01 -3.93256361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.96, Y:-3.03, Z:-3.93 [[ 9.74220961e-01 1.94335689e-01 1.14573813e-01 3.09573505e+01] [-1.92463094e-01 9.80924586e-01 -2.72931035e-02 -3.02671024e+00] [-1.17692294e-01 4.53828306e-03 9.93039741e-01 -3.93476625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:-3.04, Z:-3.94 [[ 9.74561030e-01 1.89547746e-01 1.19592855e-01 3.09861054e+01] [-1.89983951e-01 9.81755823e-01 -7.84869610e-03 -3.04065235e+00] [-1.18898685e-01 -1.50716898e-02 9.92791996e-01 -3.93784840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:-3.03, Z:-3.94 [[ 9.74982546e-01 1.91097624e-01 1.13537365e-01 3.10215428e+01] [-1.88747343e-01 9.81529847e-01 -3.12025631e-02 -3.03124073e+00] [-1.17403048e-01 8.99207849e-03 9.93043638e-01 -3.94280914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:-3.04, Z:-3.95 [[ 9.75291372e-01 1.88286320e-01 1.15563842e-01 3.10530724e+01] [-1.87285018e-01 9.82110829e-01 -1.95612332e-02 -3.04180492e+00] [-1.17179613e-01 -2.56547421e-03 9.93107425e-01 -3.94805418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.08, Y:-3.05, Z:-3.95 [[ 9.75900217e-01 1.85103142e-01 1.15566405e-01 3.10843495e+01] [-1.84076765e-01 9.82716725e-01 -1.95852709e-02 -3.04553839e+00] [-1.17194335e-01 -2.15981992e-03 9.93106652e-01 -3.95301485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:-3.05, Z:-3.96 [[ 9.75913090e-01 1.83355356e-01 1.18213598e-01 3.11167083e+01] [-1.82265547e-01 9.83044724e-01 -2.00584543e-02 -3.05031691e+00] [-1.19887079e-01 -1.97095808e-03 9.92785578e-01 -3.96008830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:-3.05, Z:-3.96 [[ 9.77064298e-01 1.78742637e-01 1.15742939e-01 3.11486124e+01] [-1.77664786e-01 9.83894914e-01 -1.96474366e-02 -3.05345015e+00] [-1.17390723e-01 -1.36663559e-03 9.93084866e-01 -3.96238950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:-3.06, Z:-3.97 [[ 9.77259967e-01 1.76348017e-01 1.17746908e-01 3.11809253e+01] [-1.75212243e-01 9.84327294e-01 -2.00111878e-02 -3.05846295e+00] [-1.19430429e-01 -1.07456718e-03 9.92841990e-01 -3.97044062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:-3.06, Z:-3.98 [[ 9.77814307e-01 1.73348254e-01 1.17599169e-01 3.12124195e+01] [-1.72190705e-01 9.84860354e-01 -2.00110944e-02 -3.06374187e+00] [-1.19287647e-01 -6.82349303e-04 9.92859502e-01 -3.97521785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105871560000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.24, Y:-3.07, Z:-3.98 [[ 9.78714843e-01 1.69820811e-01 1.15230847e-01 3.12443956e+01] [-1.68682164e-01 9.85474933e-01 -1.96337584e-02 -3.06854691e+00] [-1.16891332e-01 -2.21537894e-04 9.93144686e-01 -3.97617480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:-3.07, Z:-3.98 [[ 9.79739455e-01 1.63407088e-01 1.15796046e-01 3.12755641e+01] [-1.62210842e-01 9.86558568e-01 -1.97442081e-02 -3.07467416e+00] [-1.17465925e-01 5.60805588e-04 9.93076755e-01 -3.98101469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:-3.08, Z:-3.99 [[ 9.80192493e-01 1.60565431e-01 1.15937135e-01 3.13068863e+01] [-1.59343869e-01 9.87024766e-01 -1.97899662e-02 -3.08086668e+00] [-1.17610408e-01 9.24104634e-04 9.93059383e-01 -3.98576322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19587156 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:31.34, Y:-3.09, Z:-3.99 [[ 9.80971770e-01 1.55688506e-01 1.15997736e-01 3.13394589e+01] [-1.54429168e-01 9.87805014e-01 -1.98213550e-02 -3.08728989e+00] [-1.17669103e-01 1.53075574e-03 9.93051680e-01 -3.99018235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:-3.10, Z:-4.00 [[ 9.80711915e-01 1.54282084e-01 1.20004907e-01 3.13675621e+01] [-1.53980750e-01 9.88002952e-01 -1.18361668e-02 -3.09892351e+00] [-1.20391311e-01 -6.87057572e-03 9.92702739e-01 -3.99527010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:-3.10, Z:-4.00 [[ 9.80986067e-01 1.55368927e-01 1.16304913e-01 3.14016594e+01] [-1.53091283e-01 9.87806123e-01 -2.83217819e-02 -3.09636429e+00] [-1.19287030e-01 9.97800520e-03 9.92809672e-01 -3.99800441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:-3.11, Z:-4.00 [[ 9.80499444e-01 1.54554044e-01 1.21383224e-01 3.14303838e+01] [-1.53950360e-01 9.87973746e-01 -1.43932215e-02 -3.11057943e+00] [-1.22147969e-01 -4.57444529e-03 9.92501359e-01 -4.00329939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:-3.11, Z:-4.00 [[ 9.80586384e-01 1.56862064e-01 1.17663235e-01 3.14642760e+01] [-1.55395267e-01 9.87616285e-01 -2.15959176e-02 -3.11262385e+00] [-1.19593708e-01 2.89235285e-03 9.92818704e-01 -4.00378164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.49, Y:-3.12, Z:-4.01 [[ 9.80082024e-01 1.59004792e-01 1.18981943e-01 3.14947853e+01] [-1.57162004e-01 9.87262032e-01 -2.47746765e-02 -3.11586747e+00] [-1.21405647e-01 5.58177444e-03 9.92587282e-01 -4.01063921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:-3.12, Z:-4.02 [[ 9.79294701e-01 1.63531032e-01 1.19329332e-01 3.15270572e+01] [-1.62240299e-01 9.86537918e-01 -2.05188333e-02 -3.12318472e+00] [-1.21078376e-01 7.33958221e-04 9.92642679e-01 -4.01548476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:-3.14, Z:-4.02 [[ 9.78457632e-01 1.64734931e-01 1.24430964e-01 3.15559633e+01] [-1.65524096e-01 9.86197466e-01 -4.04125359e-03 -3.13791329e+00] [-1.23379237e-01 -1.66421273e-02 9.92220038e-01 -4.01936966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:-3.12, Z:-4.02 [[ 9.78162900e-01 1.72218102e-01 1.16354057e-01 3.15907858e+01] [-1.68978643e-01 9.84916340e-01 -3.72293190e-02 -3.12365378e+00] [-1.21010575e-01 1.67549878e-02 9.92509804e-01 -4.02440087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:-3.14, Z:-4.03 [[ 9.77204903e-01 1.76177397e-01 1.18457173e-01 3.16220757e+01] [-1.74990880e-01 9.84358134e-01 -2.04268598e-02 -3.13539156e+00] [-1.20203033e-01 -7.67697382e-04 9.92749033e-01 -4.02981193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495871560000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:31.65, Y:-3.14, Z:-4.04 [[ 9.76709412e-01 1.79233848e-01 1.17957417e-01 3.16544808e+01] [-1.78076779e-01 9.83805866e-01 -2.03636618e-02 -3.13876001e+00] [-1.19697057e-01 -1.11609673e-03 9.92809835e-01 -4.03564401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:-3.14, Z:-4.04 [[ 9.75912284e-01 1.84076538e-01 1.17094158e-01 3.16862714e+01] [-1.82968262e-01 9.82910488e-01 -2.02382900e-02 -3.14289100e+00] [-1.18818471e-01 -1.67371887e-03 9.92914583e-01 -4.04096802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:-3.15, Z:-4.05 [[ 9.75647663e-01 1.85606443e-01 1.16884067e-01 3.17170991e+01] [-1.84510441e-01 9.82622451e-01 -2.02241178e-02 -3.14775675e+00] [-1.18606635e-01 -1.83471748e-03 9.92939626e-01 -4.04593956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:-3.16, Z:-4.05 [[ 9.75077880e-01 1.84532237e-01 1.23170536e-01 3.17462753e+01] [-1.85074845e-01 9.82698623e-01 -7.12173496e-03 -3.16013894e+00] [-1.22353705e-01 -1.58515215e-02 9.92359965e-01 -4.05236154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:-3.18, Z:-4.06 [[ 9.73937187e-01 1.81815790e-01 1.35607427e-01 3.17733987e+01] [-1.85090310e-01 9.82650240e-01 1.18356757e-02 -3.17570957e+00] [-1.31102758e-01 -3.66268254e-02 9.90691951e-01 -4.06249644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:-3.14, Z:-4.06 [[ 9.74428550e-01 1.89555171e-01 1.20655866e-01 3.18120910e+01] [-1.85122257e-01 9.81588565e-01 -4.70493184e-02 -3.14496122e+00] [-1.27352860e-01 2.35101130e-02 9.91578804e-01 -4.06157595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:-3.16, Z:-4.07 [[ 9.74538038e-01 1.85160743e-01 1.26455970e-01 3.18396296e+01] [-1.84096911e-01 9.82701500e-01 -2.01516584e-02 -3.16458502e+00] [-1.27999767e-01 -3.64159587e-03 9.91767512e-01 -4.06856799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.87, Y:-3.15, Z:-4.07 [[ 9.75253759e-01 1.86955948e-01 1.18015162e-01 3.18742317e+01] [-1.83110516e-01 9.82163524e-01 -4.27241251e-02 -3.15491439e+00] [-1.23897716e-01 2.00570465e-02 9.92092269e-01 -4.06973371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.90, Y:-3.17, Z:-4.08 [[ 9.75397534e-01 1.83904758e-01 1.21567640e-01 3.19038249e+01] [-1.82695540e-01 9.82942744e-01 -2.11163850e-02 -3.17223916e+00] [-1.23377434e-01 -1.61299580e-03 9.92358507e-01 -4.07511699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:-3.19, Z:-4.08 [[ 9.74722809e-01 1.81162198e-01 1.30750537e-01 3.19317220e+01] [-1.82767027e-01 9.83156211e-01 2.78776859e-04 -3.19022869e+00] [-1.28497699e-01 -2.41686171e-02 9.91415261e-01 -4.08349882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:-3.19, Z:-4.08 [[ 9.74522053e-01 1.84414774e-01 1.27663459e-01 3.19655173e+01] [-1.84790630e-01 9.82736725e-01 -8.99730381e-03 -3.18842364e+00] [-1.27118805e-01 -1.48229400e-02 9.91776734e-01 -4.08348688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.00, Y:-3.17, Z:-4.08 [[ 9.74707982e-01 1.91198289e-01 1.15704646e-01 3.20007734e+01] [-1.87047155e-01 9.81281215e-01 -4.58316465e-02 -3.17112741e+00] [-1.22301728e-01 2.30302468e-02 9.92225728e-01 -4.08330748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.03, Y:-3.18, Z:-4.09 [[ 9.74211177e-01 1.89697843e-01 1.22177375e-01 3.20284031e+01] [-1.87620436e-01 9.81831073e-01 -2.83956902e-02 -3.18444599e+00] [-1.25344145e-01 4.74042635e-03 9.92101998e-01 -4.09467030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.06, Y:-3.19, Z:-4.10 [[ 9.74045792e-01 1.89939030e-01 1.23117670e-01 3.20597945e+01] [-1.88308706e-01 9.81795353e-01 -2.48539011e-02 -3.19023708e+00] [-1.25597082e-01 1.02470869e-03 9.92080805e-01 -4.09885467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:32.09, Y:-3.20, Z:-4.10 [[ 9.73968995e-01 1.89318417e-01 1.24671302e-01 3.20921974e+01] [-1.88080655e-01 9.81913100e-01 -2.17332041e-02 -3.19705370e+00] [-1.26530880e-01 -2.28079313e-03 9.91960047e-01 -4.10391192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.12, Y:-3.20, Z:-4.11 [[ 9.74052117e-01 1.88535041e-01 1.25207876e-01 3.21231233e+01] [-1.87276938e-01 9.82064079e-01 -2.18516075e-02 -3.20259925e+00] [-1.27081951e-01 -2.16394309e-03 9.91889860e-01 -4.10831572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.16, Y:-3.21, Z:-4.11 [[ 9.74275518e-01 1.86709172e-01 1.26201820e-01 3.21554969e+01] [-1.85412710e-01 9.82413357e-01 -2.20481771e-02 -3.20791836e+00] [-1.28098950e-01 -1.91842233e-03 9.91759537e-01 -4.11248249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:-3.21, Z:-4.12 [[ 9.74394433e-01 1.86173186e-01 1.26075506e-01 3.21863994e+01] [-1.84871654e-01 9.82515255e-01 -2.20509494e-02 -3.21256122e+00] [-1.27976403e-01 -1.82146497e-03 9.91775540e-01 -4.11682006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:-3.22, Z:-4.12 [[ 9.74541122e-01 1.85772131e-01 1.25532136e-01 3.22182346e+01] [-1.84475588e-01 9.82591315e-01 -2.19787267e-02 -3.21514950e+00] [-1.27429822e-01 -1.73844167e-03 9.91846066e-01 -4.12251732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:-3.22, Z:-4.13 [[ 9.74579238e-01 1.85780957e-01 1.25222783e-01 3.22500214e+01] [-1.84488040e-01 9.82589691e-01 -2.19468036e-02 -3.22015121e+00] [-1.27119914e-01 -1.71320668e-03 9.91885877e-01 -4.12730703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.28, Y:-3.23, Z:-4.13 [[ 9.74608602e-01 1.85816921e-01 1.24940563e-01 3.22811593e+01] [-1.84526922e-01 9.82582932e-01 -2.19224978e-02 -3.22539853e+00] [-1.26838036e-01 -1.68904269e-03 9.91922003e-01 -4.13249931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.31, Y:-3.24, Z:-4.13 [[ 9.75131660e-01 1.83746761e-01 1.23916803e-01 3.23131071e+01] [-1.84287031e-01 9.82846187e-01 -7.18776792e-03 -3.23771844e+00] [-1.23111887e-01 -1.58272397e-02 9.92266578e-01 -4.13102620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:-3.23, Z:-4.14 [[ 9.74538579e-01 1.87963383e-01 1.22246983e-01 3.23461507e+01] [-1.84885766e-01 9.82094822e-01 -3.61526594e-02 -3.22572021e+00] [-1.26853505e-01 1.26304343e-02 9.91841046e-01 -4.14123241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:-3.24, Z:-4.15 [[ 9.74285865e-01 1.86362962e-01 1.26632936e-01 3.23771564e+01] [-1.85033184e-01 9.82479468e-01 -2.22893632e-02 -3.23618529e+00] [-1.28568171e-01 -1.71508376e-03 9.91699190e-01 -4.14632494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:-3.24, Z:-4.15 [[ 9.74270482e-01 1.86446400e-01 1.26628461e-01 3.24097974e+01] [-1.85114024e-01 9.82463663e-01 -2.23147566e-02 -3.24207060e+00] [-1.28568367e-01 -1.70009522e-03 9.91699191e-01 -4.15111907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:-3.26, Z:-4.16 [[ 9.73640214e-01 1.83948323e-01 1.34861958e-01 3.24394983e+01] [-1.85083739e-01 9.82713867e-01 -4.17906369e-03 -3.25653714e+00] [-1.33299448e-01 -2.08918510e-02 9.90855584e-01 -4.15931034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:-3.25, Z:-4.16 [[ 9.73937952e-01 1.86156036e-01 1.29579302e-01 3.24732196e+01] [-1.85783262e-01 9.82475229e-01 -1.50666305e-02 -3.25153266e+00] [-1.30113198e-01 -9.39970213e-03 9.91454589e-01 -4.15539381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:-3.24, Z:-4.16 [[ 9.73611091e-01 1.91565458e-01 1.24032735e-01 3.25073338e+01] [-1.86755850e-01 9.81162689e-01 -4.94168996e-02 -3.23562765e+00] [-1.31162863e-01 2.49490027e-02 9.91046846e-01 -4.16339008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.53, Y:-3.26, Z:-4.17 [[ 9.73175597e-01 1.85594626e-01 1.35955479e-01 3.25338943e+01] [-1.86441391e-01 9.82443975e-01 -6.59120096e-03 -3.26299291e+00] [-1.34791932e-01 -1.89333327e-02 9.90693022e-01 -4.17312941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.57, Y:-3.25, Z:-4.17 [[ 9.73387602e-01 1.91043882e-01 1.26565444e-01 3.25692507e+01] [-1.87452193e-01 9.81466378e-01 -3.98173938e-02 -3.24782067e+00] [-1.31826597e-01 1.50327874e-02 9.91158798e-01 -4.17371303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.60, Y:-3.26, Z:-4.17 [[ 9.73681984e-01 1.87176831e-01 1.30031639e-01 3.25999580e+01] [-1.87590594e-01 9.82204503e-01 -9.16965136e-03 -3.26448186e+00] [-1.29434008e-01 -1.54643880e-02 9.91467443e-01 -4.17428292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:-3.26, Z:-4.18 [[ 9.73579937e-01 1.89104426e-01 1.27990715e-01 3.26330468e+01] [-1.87791099e-01 9.81954375e-01 -2.23631234e-02 -3.26092707e+00] [-1.29910008e-01 -2.26322871e-03 9.91523206e-01 -4.17949491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:-3.26, Z:-4.19 [[ 9.73333799e-01 1.90414585e-01 1.27920296e-01 3.26649802e+01] [-1.87164137e-01 9.81628594e-01 -3.70795051e-02 -3.25563277e+00] [-1.32630698e-01 1.21486439e-02 9.91091070e-01 -4.19041982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:-3.27, Z:-4.20 [[ 9.73573746e-01 1.87893967e-01 1.29807618e-01 3.26960424e+01] [-1.86342707e-01 9.82189054e-01 -2.41051345e-02 -3.26672841e+00] [-1.32024831e-01 -7.20576781e-04 9.91246147e-01 -4.19642652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:32.73, Y:-3.27, Z:-4.20 [[ 9.73857885e-01 1.86634537e-01 1.29492738e-01 3.27282224e+01] [-1.85357845e-01 9.82425902e-01 -2.19503002e-02 -3.27040256e+00] [-1.31313704e-01 -2.62602199e-03 9.91337387e-01 -4.20088148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.76, Y:-3.27, Z:-4.21 [[ 9.74085216e-01 1.85080453e-01 1.30012375e-01 3.27593802e+01] [-1.83639139e-01 9.82722404e-01 -2.30942414e-02 -3.27356156e+00] [-1.32040366e-01 -1.37960150e-03 9.91243380e-01 -4.20721991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.79, Y:-3.28, Z:-4.21 [[ 9.74416712e-01 1.84571951e-01 1.28239100e-01 3.27927439e+01] [-1.82548272e-01 9.82813297e-01 -2.74618316e-02 -3.27577002e+00] [-1.31103777e-01 3.34944150e-03 9.91362992e-01 -4.21108460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.82, Y:-3.29, Z:-4.22 [[ 9.74492609e-01 1.81951125e-01 1.31369487e-01 3.28226647e+01] [-1.81058726e-01 9.83292430e-01 -1.88078186e-02 -3.28514199e+00] [-1.32596726e-01 -5.45751182e-03 9.91155045e-01 -4.21779061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:-3.29, Z:-4.22 [[ 9.74921676e-01 1.80541912e-01 1.30124339e-01 3.28542164e+01] [-1.79050277e-01 9.83567036e-01 -2.31707376e-02 -3.28705258e+00] [-1.32169300e-01 -7.09144592e-04 9.91226903e-01 -4.22221013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:-3.29, Z:-4.23 [[ 9.75299678e-01 1.80493163e-01 1.27329324e-01 3.28859451e+01] [-1.78284869e-01 9.83562390e-01 -2.86274331e-02 -3.28939814e+00] [-1.30403390e-01 5.21943446e-03 9.91447282e-01 -4.22605489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:32.92, Y:-3.30, Z:-4.23 [[ 9.75747874e-01 1.77117141e-01 1.28629723e-01 3.29173180e+01] [-1.75995377e-01 9.84185208e-01 -2.01271924e-02 -3.29852395e+00] [-1.30160341e-01 -2.99917138e-03 9.91488422e-01 -4.23083404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:32.95, Y:-3.31, Z:-4.23 [[ 9.75959686e-01 1.76268408e-01 1.28187910e-01 3.29467233e+01] [-1.76227293e-01 9.84279332e-01 -1.17531898e-02 -3.30901747e+00] [-1.28244426e-01 -1.11195690e-02 9.91680252e-01 -4.22968064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.98, Y:-3.30, Z:-4.24 [[ 9.75324470e-01 1.79099980e-01 1.29094447e-01 3.29777335e+01] [-1.76481746e-01 9.83798542e-01 -3.15376348e-02 -3.30442043e+00] [-1.32651318e-01 7.97661349e-03 9.91130668e-01 -4.24141568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.01, Y:-3.31, Z:-4.25 [[ 9.75003342e-01 1.79194003e-01 1.31369677e-01 3.30094735e+01] [-1.77651688e-01 9.83813650e-01 -2.34644467e-02 -3.31328790e+00] [-1.33447970e-01 -4.60131041e-04 9.91055714e-01 -4.24638906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.04, Y:-3.32, Z:-4.25 [[ 9.74860197e-01 1.80498213e-01 1.30644524e-01 3.30428236e+01] [-1.78657194e-01 9.83573688e-01 -2.57760998e-02 -3.31690390e+00] [-1.33151056e-01 1.78750966e-03 9.91094143e-01 -4.25041929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:-3.32, Z:-4.25 [[ 9.74410777e-01 1.84732184e-01 1.28053340e-01 3.30747164e+01] [-1.82062649e-01 9.82754614e-01 -3.23505754e-02 -3.31834855e+00] [-1.31821204e-01 8.20901897e-03 9.91239518e-01 -4.25278049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:-3.34, Z:-4.26 [[ 9.73641693e-01 1.83049023e-01 1.36069499e-01 3.31026649e+01] [-1.83659513e-01 9.82956035e-01 -8.16188056e-03 -3.33836003e+00] [-1.35244359e-01 -1.70437107e-02 9.90665673e-01 -4.26135493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.14, Y:-3.33, Z:-4.26 [[ 9.73482723e-01 1.87926505e-01 1.30441619e-01 3.31353529e+01] [-1.85734672e-01 9.82175399e-01 -2.88810887e-02 -3.33175266e+00] [-1.33544071e-01 3.88770969e-03 9.91035250e-01 -4.26320750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:-3.34, Z:-4.27 [[ 9.72545096e-01 1.90332184e-01 1.33901817e-01 3.31647239e+01] [-1.89298076e-01 9.81705004e-01 -2.05310245e-02 -3.34191947e+00] [-1.35359798e-01 -5.38000920e-03 9.90781904e-01 -4.26922608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.20, Y:-3.34, Z:-4.27 [[ 9.72242916e-01 1.93028253e-01 1.32226346e-01 3.31977830e+01] [-1.91111325e-01 9.81192541e-01 -2.71598694e-02 -3.34309163e+00] [-1.34982127e-01 1.13603835e-03 9.90847382e-01 -4.27275726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:-3.35, Z:-4.28 [[ 9.71863429e-01 1.94249889e-01 1.33223334e-01 3.32294755e+01] [-1.92788794e-01 9.80949018e-01 -2.39061685e-02 -3.34986533e+00] [-1.35329069e-01 -2.45043494e-03 9.90797678e-01 -4.27797096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:-3.36, Z:-4.28 [[ 9.70869602e-01 1.96446737e-01 1.37189267e-01 3.32603136e+01] [-1.95946518e-01 9.80462387e-01 -1.72762699e-02 -3.35807484e+00] [-1.37902783e-01 -1.01087538e-02 9.90394182e-01 -4.28456441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:-3.36, Z:-4.29 [[ 9.70591702e-01 2.00346705e-01 1.33465148e-01 3.32933303e+01] [-1.97890050e-01 9.79715964e-01 -3.15619793e-02 -3.35503165e+00] [-1.37081275e-01 4.22237039e-03 9.90550804e-01 -4.28690276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:-3.36, Z:-4.29 [[ 9.70151534e-01 2.01275184e-01 1.35256431e-01 3.33239419e+01] [-1.99825975e-01 9.79528817e-01 -2.43490632e-02 -3.36337681e+00] [-1.37388434e-01 -3.40546710e-03 9.90511394e-01 -4.29237458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.36, Y:-3.37, Z:-4.30 [[ 9.69954109e-01 2.01448104e-01 1.36409998e-01 3.33557946e+01] [-2.00386591e-01 9.79478471e-01 -2.16133978e-02 -3.36977798e+00] [-1.37964634e-01 -6.37073048e-03 9.90416667e-01 -4.29797353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.39, Y:-3.37, Z:-4.30 [[ 9.70097249e-01 2.02097999e-01 1.34416241e-01 3.33881842e+01] [-2.00262561e-01 9.79365149e-01 -2.71810711e-02 -3.37058618e+00] [-1.37135822e-01 -5.50258254e-04 9.90552100e-01 -4.30213366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.42, Y:-3.38, Z:-4.31 [[ 9.70080712e-01 2.00570870e-01 1.36801822e-01 3.34195872e+01] [-1.99753905e-01 9.79645686e-01 -1.98168221e-02 -3.37948065e+00] [-1.37991992e-01 -8.10278140e-03 9.90400199e-01 -4.30862311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.45, Y:-3.38, Z:-4.31 [[ 9.70808077e-01 1.99908722e-01 1.32545017e-01 3.34511905e+01] [-1.97826987e-01 9.79812933e-01 -2.88288062e-02 -3.37817139e+00] [-1.35632451e-01 1.76625664e-03 9.90757649e-01 -4.31257259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.48, Y:-3.39, Z:-4.32 [[ 9.71003258e-01 1.97618485e-01 1.34534782e-01 3.34817071e+01] [-1.96742180e-01 9.80253047e-01 -1.99117590e-02 -3.38895309e+00] [-1.35813061e-01 -7.13428338e-03 9.90708794e-01 -4.31919605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.51, Y:-3.40, Z:-4.33 [[ 9.71135570e-01 1.92939514e-01 1.40249954e-01 3.35105445e+01] [-1.93947568e-01 9.80989854e-01 -6.57628605e-03 -3.40231460e+00] [-1.38852607e-01 -2.08146721e-02 9.90094290e-01 -4.32883495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:-3.38, Z:-4.33 [[ 9.72027554e-01 1.97433442e-01 1.27210341e-01 3.35463066e+01] [-1.93070578e-01 9.80111451e-01 -4.58834961e-02 -3.38463446e+00] [-1.33739249e-01 2.00394483e-02 9.90813925e-01 -4.32570941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.57, Y:-3.41, Z:-4.34 [[ 9.71540974e-01 1.91435034e-01 1.39501840e-01 3.35717956e+01] [-1.92390875e-01 9.81295304e-01 -6.72881525e-03 -3.41349073e+00] [-1.38180632e-01 -2.03015613e-02 9.90198950e-01 -4.33731526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:-3.41, Z:-4.33 [[ 9.72534129e-01 1.92675352e-01 1.30589346e-01 3.36068998e+01] [-1.91945831e-01 9.81235428e-01 -1.82710937e-02 -3.40964907e+00] [-1.31659282e-01 -7.29681825e-03 9.91268173e-01 -4.32921946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.64, Y:-3.40, Z:-4.34 [[ 9.72146787e-01 1.96950084e-01 1.27048373e-01 3.36401114e+01] [-1.92499321e-01 9.80193333e-01 -4.65300107e-02 -3.39862384e+00] [-1.33696058e-01 2.07772749e-02 9.90804556e-01 -4.33971607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:-3.42, Z:-4.35 [[ 9.71870736e-01 1.93839406e-01 1.33766804e-01 3.36680886e+01] [-1.92929536e-01 9.81011677e-01 -1.98565717e-02 -3.41935760e+00] [-1.35075783e-01 -6.50954656e-03 9.90813887e-01 -4.34834712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.70, Y:-3.43, Z:-4.36 [[ 9.70937809e-01 1.93078091e-01 1.41423552e-01 3.36972516e+01] [-1.94084475e-01 9.80961421e-01 -6.77542234e-03 -3.43151475e+00] [-1.40039234e-01 -2.08696021e-02 9.89925993e-01 -4.35696436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:33.73, Y:-3.42, Z:-4.36 [[ 9.71106467e-01 1.95978107e-01 1.36179335e-01 3.37316234e+01] [-1.94041826e-01 9.80608236e-01 -2.74819484e-02 -3.42138886e+00] [-1.38924438e-01 2.63410908e-04 9.90302949e-01 -4.35792942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.77, Y:-3.42, Z:-4.36 [[ 9.71794077e-01 1.97941680e-01 1.28200480e-01 3.37652538e+01] [-1.93821496e-01 9.80050501e-01 -4.39800273e-02 -3.41702065e+00] [-1.34348425e-01 1.78915212e-02 9.90772625e-01 -4.35938838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:-3.43, Z:-4.37 [[ 9.71990873e-01 1.94532705e-01 1.31874067e-01 3.37950635e+01] [-1.93058357e-01 9.80893716e-01 -2.39997733e-02 -3.43417857e+00] [-1.34023185e-01 -2.13183005e-03 9.90975903e-01 -4.36747437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.45, Z:-4.38 [[ 9.71779067e-01 1.91867079e-01 1.37231445e-01 3.38243218e+01] [-1.92046793e-01 9.81311724e-01 -1.20552607e-02 -3.44653551e+00] [-1.36979833e-01 -1.46398089e-02 9.90465649e-01 -4.37579520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:-3.45, Z:-4.38 [[ 9.72421535e-01 1.90090379e-01 1.35136988e-01 3.38575211e+01] [-1.88608560e-01 9.81763806e-01 -2.38042061e-02 -3.44528575e+00] [-1.37197554e-01 -2.34027002e-03 9.90540940e-01 -4.37984495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.89, Y:-3.44, Z:-4.38 [[ 9.73210612e-01 1.90222443e-01 1.29137625e-01 3.38908584e+01] [-1.86843329e-01 9.81658025e-01 -3.79089880e-02 -3.44244029e+00] [-1.33980126e-01 1.27649257e-02 9.90901803e-01 -4.38054165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.92, Y:-3.46, Z:-4.38 [[ 9.74245139e-01 1.82901078e-01 1.31884820e-01 3.39184047e+01] [-1.82685886e-01 9.83074003e-01 -1.38337264e-02 -3.46141005e+00] [-1.32182741e-01 -1.06160544e-02 9.91168514e-01 -4.38383782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:-3.46, Z:-4.39 [[ 9.74263745e-01 1.83940550e-01 1.30292090e-01 3.39513438e+01] [-1.81171642e-01 9.82901079e-01 -3.28984049e-02 -3.45778859e+00] [-1.34115587e-01 8.44649116e-03 9.90929698e-01 -4.39113923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:-3.47, Z:-4.40 [[ 9.74714355e-01 1.80747390e-01 1.31386102e-01 3.39824019e+01] [-1.79036589e-01 9.83529326e-01 -2.48186487e-02 -3.46918583e+00] [-1.33707990e-01 6.68173641e-04 9.91020548e-01 -4.39667930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.48, Z:-4.40 [[ 9.75452642e-01 1.77043835e-01 1.30948936e-01 3.40122000e+01] [-1.76831180e-01 9.84150737e-01 -1.33439733e-02 -3.48164036e+00] [-1.31235960e-01 -1.01394408e-02 9.91299306e-01 -4.39632865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:34.05, Y:-3.48, Z:-4.40 [[ 9.75362398e-01 1.79218504e-01 1.28642608e-01 3.40468314e+01] [-1.76292722e-01 9.83754728e-01 -3.38749229e-02 -3.47582510e+00] [-1.32623786e-01 1.03615705e-02 9.91112289e-01 -4.40246976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.08, Y:-3.49, Z:-4.41 [[ 9.75051490e-01 1.78278372e-01 1.32255107e-01 3.40767678e+01] [-1.76624387e-01 9.83980056e-01 -2.42296164e-02 -3.49131904e+00] [-1.34456005e-01 2.65646284e-04 9.90919529e-01 -4.41044648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.11, Y:-3.50, Z:-4.41 [[ 9.74852314e-01 1.79130703e-01 1.32571331e-01 3.41090389e+01] [-1.77473071e-01 9.83825269e-01 -2.43135394e-02 -3.49761106e+00] [-1.34782327e-01 1.74268788e-04 9.90875216e-01 -4.41470413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:34.14, Y:-3.50, Z:-4.42 [[ 9.74822533e-01 1.80042553e-01 1.31551160e-01 3.41404172e+01] [-1.78415066e-01 9.83658820e-01 -2.41534776e-02 -3.50181236e+00] [-1.33750112e-01 7.46453488e-05 9.91015087e-01 -4.41710793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:-3.51, Z:-4.42 [[ 9.74182421e-01 1.82887896e-01 1.32365511e-01 3.41714054e+01] [-1.81262771e-01 9.83133731e-01 -2.43284974e-02 -3.50956769e+00] [-1.34582387e-01 -2.92544854e-04 9.90902364e-01 -4.42420265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:-3.52, Z:-4.43 [[ 9.73846046e-01 1.84660535e-01 1.32379623e-01 3.42021494e+01] [-1.83047739e-01 9.82802231e-01 -2.43577442e-02 -3.51514219e+00] [-1.34600902e-01 -5.11097755e-04 9.90899761e-01 -4.42893654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:-3.53, Z:-4.43 [[ 9.73726204e-01 1.84606276e-01 1.33333426e-01 3.42312896e+01] [-1.84629664e-01 9.82731229e-01 -1.22970766e-02 -3.52656875e+00] [-1.33301039e-01 -1.26433199e-02 9.90994944e-01 -4.43025712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.27, Y:-3.52, Z:-4.44 [[ 9.73114139e-01 1.90319551e-01 1.29720239e-01 3.42658297e+01] [-1.87211457e-01 9.81664841e-01 -3.58609845e-02 -3.51921492e+00] [-1.34166844e-01 1.06117161e-02 9.90901937e-01 -4.43816121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:34.30, Y:-3.53, Z:-4.44 [[ 9.73222221e-01 1.89134187e-01 1.30639839e-01 3.42963616e+01] [-1.87596044e-01 9.81950682e-01 -2.40952882e-02 -3.52996966e+00] [-1.32839122e-01 -1.05744713e-03 9.91137049e-01 -4.44163321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:-3.54, Z:-4.45 [[ 9.72848593e-01 1.89753052e-01 1.32511861e-01 3.43287188e+01] [-1.88173930e-01 9.81831183e-01 -2.44560826e-02 -3.53570286e+00] [-1.34744894e-01 -1.14321216e-03 9.90879663e-01 -4.44818705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:-3.54, Z:-4.45 [[ 9.72756093e-01 1.89682321e-01 1.33289911e-01 3.43602829e+01] [-1.88080274e-01 9.81844884e-01 -2.46258966e-02 -3.54039836e+00] [-1.35541114e-01 -1.11421202e-03 9.90771096e-01 -4.45255246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:-3.55, Z:-4.45 [[ 9.72935818e-01 1.87738506e-01 1.34722480e-01 3.43891469e+01] [-1.88311730e-01 9.82071729e-01 -8.59137480e-03 -3.55447714e+00] [-1.33920071e-01 -1.70109671e-02 9.90846124e-01 -4.45156609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:-3.55, Z:-4.45 [[ 9.72828826e-01 1.90160262e-01 1.32072515e-01 3.44225307e+01] [-1.88639243e-01 9.81751891e-01 -2.40512107e-02 -3.55172244e+00] [-1.34236026e-01 -1.51634817e-03 9.90948228e-01 -4.45476288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:-3.56, Z:-4.46 [[ 9.72719452e-01 1.90159642e-01 1.32876554e-01 3.44537006e+01] [-1.88734758e-01 9.81750344e-01 -2.33549350e-02 -3.55798075e+00] [-1.34892769e-01 -2.36062484e-03 9.90857391e-01 -4.45984608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:-3.55, Z:-4.47 [[ 9.72486829e-01 1.92116329e-01 1.31759944e-01 3.44862176e+01] [-1.88307155e-01 9.81258023e-01 -4.09036391e-02 -3.55412773e+00] [-1.37148759e-01 1.49669101e-02 9.90437383e-01 -4.46901488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:-3.57, Z:-4.48 [[ 9.72579438e-01 1.89257867e-01 1.35169144e-01 3.45152010e+01] [-1.87588950e-01 9.81926963e-01 -2.50963090e-02 -3.56949758e+00] [-1.37475901e-01 -9.48083681e-04 9.90504658e-01 -4.47566618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.55, Y:-3.58, Z:-4.48 [[ 9.72647207e-01 1.89009038e-01 1.35029602e-01 3.45468521e+01] [-1.87337742e-01 9.81974947e-01 -2.50953062e-02 -3.57539493e+00] [-1.37338926e-01 -8.87261184e-04 9.90523716e-01 -4.48058550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:-3.58, Z:-4.49 [[ 9.72682753e-01 1.88683216e-01 1.35229087e-01 3.45778595e+01] [-1.87000045e-01 9.82037667e-01 -2.51595772e-02 -3.58071469e+00] [-1.37547247e-01 -8.15558467e-04 9.90494871e-01 -4.48528484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315871560000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:34.61, Y:-3.59, Z:-4.49 [[ 9.73003078e-01 1.87441168e-01 1.34650726e-01 3.46104672e+01] [-1.85757132e-01 9.82275640e-01 -2.50769643e-02 -3.58561282e+00] [-1.36964584e-01 -6.12369204e-04 9.90575756e-01 -4.48889459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-3.59, Z:-4.50 [[ 9.73081163e-01 1.86457673e-01 1.35449570e-01 3.46425959e+01] [-1.84740354e-01 9.82462891e-01 -2.52521017e-02 -3.59298182e+00] [-1.37782624e-01 -4.50657032e-04 9.90462390e-01 -4.49524063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:-3.61, Z:-4.50 [[ 9.73512581e-01 1.82518106e-01 1.37696753e-01 3.46718914e+01] [-1.82492127e-01 9.83122402e-01 -1.29215621e-02 -3.60511946e+00] [-1.37731181e-01 -1.25492701e-02 9.90390144e-01 -4.49731174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.61, Z:-4.50 [[ 9.73869258e-01 1.82683757e-01 1.34927066e-01 3.47058023e+01] [-1.81663824e-01 9.83158533e-01 -1.99387808e-02 -3.60725687e+00] [-1.36297187e-01 -5.09360097e-03 9.90654901e-01 -4.49842953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.74, Y:-3.60, Z:-4.51 [[ 9.73922847e-01 1.84678277e-01 1.31788547e-01 3.47390772e+01] [-1.80704873e-01 9.82657077e-01 -4.16030949e-02 -3.60206592e+00] [-1.37186136e-01 1.67033720e-02 9.90404443e-01 -4.50686740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.63, Z:-4.51 [[ 9.74010863e-01 1.78939293e-01 1.38865288e-01 3.47666438e+01] [-1.79564346e-01 9.83712738e-01 -8.11749900e-03 -3.62737996e+00] [-1.38056092e-01 -1.70287224e-02 9.90278010e-01 -4.51106397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.63, Z:-4.52 [[ 9.73258162e-01 1.80827983e-01 1.41667888e-01 3.47988975e+01] [-1.79583044e-01 9.83504951e-01 -2.16319548e-02 -3.62552353e+00] [-1.43242733e-01 -4.38767401e-03 9.89677861e-01 -4.52163749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.83, Y:-3.62, Z:-4.52 [[ 9.73424168e-01 1.85613169e-01 1.34138513e-01 3.48319492e+01] [-1.81616521e-01 9.82491256e-01 -4.15496207e-02 -3.61892754e+00] [-1.39502073e-01 1.60836348e-02 9.90091151e-01 -4.52216460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:-3.63, Z:-4.53 [[ 9.73431744e-01 1.85505786e-01 1.34232051e-01 3.48634700e+01] [-1.82988896e-01 9.82627359e-01 -3.09602689e-02 -3.63104330e+00] [-1.37643395e-01 5.57473378e-03 9.90466162e-01 -4.52773535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.90, Y:-3.64, Z:-4.53 [[ 9.73004787e-01 1.87428423e-01 1.34656121e-01 3.48951660e+01] [-1.85719479e-01 9.82278167e-01 -2.52562291e-02 -3.63844978e+00] [-1.37003503e-01 -4.33832846e-04 9.90570468e-01 -4.53305710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.65, Z:-4.54 [[ 9.72673125e-01 1.87772876e-01 1.36558923e-01 3.49251916e+01] [-1.86598961e-01 9.82201682e-01 -2.14635548e-02 -3.64622574e+00] [-1.38158677e-01 -4.60473022e-03 9.90399402e-01 -4.53911620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.65, Z:-4.54 [[ 9.72751425e-01 1.89462603e-01 1.33636023e-01 3.49569188e+01] [-1.87206790e-01 9.81881532e-01 -2.93645252e-02 -3.64648515e+00] [-1.36778223e-01 3.54681273e-03 9.90595345e-01 -4.54240192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.66, Z:-4.55 [[ 9.72837212e-01 1.86859842e-01 1.36642446e-01 3.49863076e+01] [-1.86629620e-01 9.82321717e-01 -1.46092356e-02 -3.65769013e+00] [-1.36956722e-01 -1.12891198e-02 9.90512702e-01 -4.54630234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.65, Z:-4.55 [[ 9.73075981e-01 1.88508682e-01 1.32618297e-01 3.50214551e+01] [-1.85387828e-01 9.82019918e-01 -3.56122622e-02 -3.64934820e+00] [-1.36947030e-01 1.00676189e-02 9.90527210e-01 -4.54951084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.66, Z:-4.56 [[ 9.73684609e-01 1.82746616e-01 1.36168853e-01 3.50508800e+01] [-1.80938587e-01 9.83159989e-01 -2.56449480e-02 -3.66098796e+00] [-1.38562295e-01 3.31891295e-04 9.90353664e-01 -4.55538239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.67, Z:-4.56 [[ 9.74058751e-01 1.80234728e-01 1.36839293e-01 3.50823696e+01] [-1.78380472e-01 9.83623366e-01 -2.57969041e-02 -3.66879102e+00] [-1.39247824e-01 7.18242563e-04 9.90257304e-01 -4.56076194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79587156 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.68, Z:-4.56 [[ 9.74508739e-01 1.77760724e-01 1.36871626e-01 3.51139804e+01] [-1.75877455e-01 9.84073126e-01 -2.58302939e-02 -3.67510732e+00] [-1.39283300e-01 1.09921400e-03 9.90251965e-01 -4.56477139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.82587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.15, Y:-3.68, Z:-4.57 [[ 9.75642202e-01 1.71837808e-01 1.36360045e-01 3.51452304e+01] [-1.69907519e-01 9.85123299e-01 -2.57588775e-02 -3.68493948e+00] [-1.38757807e-01 1.96285096e-03 9.90324401e-01 -4.57016031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.69, Z:-4.58 [[ 9.76178783e-01 1.68849936e-01 1.36252275e-01 3.51770072e+01] [-1.66889952e-01 9.85638817e-01 -2.57655995e-02 -3.69353190e+00] [-1.38646051e-01 2.41269600e-03 9.90339059e-01 -4.57564634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.70, Z:-4.58 [[ 9.77035763e-01 1.63563598e-01 1.36557923e-01 3.52073882e+01] [-1.61539560e-01 9.86527611e-01 -2.58504161e-02 -3.70241305e+00] [-1.38946349e-01 3.19727431e-03 9.90294749e-01 -4.58046148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.71, Z:-4.59 [[ 9.77413214e-01 1.61129482e-01 1.36750502e-01 3.52373870e+01] [-1.59072399e-01 9.86926804e-01 -2.59124468e-02 -3.71173238e+00] [-1.39137995e-01 3.57393753e-03 9.90266553e-01 -4.58560266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.72, Z:-4.59 [[ 9.77831296e-01 1.59190969e-01 1.36030114e-01 3.52680636e+01] [-1.57134750e-01 9.87240321e-01 -2.57918411e-02 -3.71976482e+00] [-1.38400241e-01 3.84501152e-03 9.90368916e-01 -4.58955313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.73, Z:-4.59 [[ 9.78383864e-01 1.56599238e-01 1.35061814e-01 3.52983574e+01] [-1.54544507e-01 9.87653278e-01 -2.56319580e-02 -3.73297818e+00] [-1.37408189e-01 4.20483259e-03 9.90505583e-01 -4.59431388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:-3.74, Z:-4.60 [[ 9.78545524e-01 1.56086270e-01 1.34483210e-01 3.53288734e+01] [-1.54040646e-01 9.87734131e-01 -2.55493016e-02 -3.74338375e+00] [-1.36821552e-01 4.28527419e-03 9.90586442e-01 -4.59997218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:-3.76, Z:-4.60 [[ 9.78505642e-01 1.57415912e-01 1.33217635e-01 3.53599882e+01] [-1.55418957e-01 9.87523985e-01 -2.53244379e-02 -3.75687928e+00] [-1.35542080e-01 4.07555941e-03 9.90763208e-01 -4.60487135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.39, Y:-3.77, Z:-4.61 [[ 9.78226368e-01 1.59224133e-01 1.33119674e-01 3.53908393e+01] [-1.57243093e-01 9.87234957e-01 -2.53327727e-02 -3.76673220e+00] [-1.35453984e-01 3.84903700e-03 9.90776162e-01 -4.60936262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:-3.78, Z:-4.61 [[ 9.77738307e-01 1.61877781e-01 1.33504262e-01 3.54213235e+01] [-1.59906339e-01 9.86804548e-01 -2.54312243e-02 -3.77671444e+00] [-1.35859363e-01 3.51690446e-03 9.90721891e-01 -4.61464451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.45, Y:-3.79, Z:-4.62 [[ 9.76756129e-01 1.67761280e-01 1.33430195e-01 3.54514546e+01] [-1.65843149e-01 9.85823890e-01 -2.54422580e-02 -3.79111050e+00] [-1.35806899e-01 2.72239786e-03 9.90731586e-01 -4.61976492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.80, Z:-4.62 [[ 9.76208319e-01 1.71547038e-01 1.32623267e-01 3.54817104e+01] [-1.69685483e-01 9.85173490e-01 -2.52988288e-02 -3.80054223e+00] [-1.34996866e-01 2.19268392e-03 9.90843599e-01 -4.62253208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.81, Z:-4.63 [[ 9.75531868e-01 1.75443671e-01 1.32503183e-01 3.55130312e+01] [-1.73617934e-01 9.84488044e-01 -2.53002936e-02 -3.80970416e+00] [-1.34886576e-01 1.67631382e-03 9.90859628e-01 -4.62693262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.82, Z:-4.63 [[ 9.74299039e-01 1.82600208e-01 1.31903548e-01 3.55443122e+01] [-1.80852569e-01 9.83186991e-01 -2.52128587e-02 -3.82122705e+00] [-1.34289725e-01 7.09768652e-04 9.90941858e-01 -4.63334346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.83, Z:-4.64 [[ 9.73608942e-01 1.86438148e-01 1.31629957e-01 3.55745731e+01] [-1.84731260e-01 9.82466682e-01 -2.51710355e-02 -3.83013219e+00] [-1.34014888e-01 1.90577413e-04 9.90979300e-01 -4.63843502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:-3.84, Z:-4.64 [[ 9.72178043e-01 1.93321629e-01 1.32274718e-01 3.56058044e+01] [-1.91657851e-01 9.81135161e-01 -2.53192274e-02 -3.84256655e+00] [-1.34674131e-01 -7.36691164e-04 9.90889669e-01 -4.64283937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:-3.85, Z:-4.65 [[ 9.71433748e-01 1.96681589e-01 1.32788652e-01 3.56365321e+01] [-1.95032394e-01 9.80466704e-01 -2.54441944e-02 -3.85196816e+00] [-1.35199257e-01 -1.18073954e-03 9.90817726e-01 -4.64773506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.86, Z:-4.65 [[ 9.70854523e-01 1.99602943e-01 1.32665593e-01 3.56678149e+01] [-1.97980603e-01 9.79875618e-01 -2.54451275e-02 -3.86084356e+00] [-1.35074702e-01 -1.56169696e-03 9.90834187e-01 -4.65204704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.88, Z:-4.66 [[ 9.69453921e-01 2.03560836e-01 1.36828659e-01 3.56956687e+01] [-2.03927442e-01 9.78918655e-01 -1.14832754e-02 -3.87830789e+00] [-1.36281672e-01 -1.67706122e-02 9.90528168e-01 -4.65533743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.88, Z:-4.66 [[ 9.68479482e-01 2.08604986e-01 1.36130277e-01 3.57273250e+01] [-2.07051506e-01 9.77994202e-01 -2.56323015e-02 -3.87752671e+00] [-1.38481647e-01 -3.36162062e-03 9.90359295e-01 -4.66106589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.88, Z:-4.67 [[ 9.67663629e-01 2.15823395e-01 1.30565549e-01 3.57614642e+01] [-2.12264704e-01 9.76362067e-01 -4.07530353e-02 -3.87573995e+00] [-1.36274707e-01 1.17207725e-02 9.90601750e-01 -4.66652666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.89, Z:-4.67 [[ 9.67255143e-01 2.16226235e-01 1.32904866e-01 3.57914494e+01] [-2.14745687e-01 9.76335781e-01 -2.55486466e-02 -3.89078688e+00] [-1.35284063e-01 -3.82868694e-03 9.90799457e-01 -4.67199856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.90, Z:-4.68 [[ 9.66802411e-01 2.18582846e-01 1.32342877e-01 3.58238830e+01] [-2.17133264e-01 9.75809718e-01 -2.54664421e-02 -3.89760443e+00] [-1.34707993e-01 -4.11502326e-03 9.90876795e-01 -4.67657736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.92, Z:-4.67 [[ 9.66920812e-01 2.17593490e-01 1.33106033e-01 3.58536081e+01] [-2.18914636e-01 9.75732173e-01 -4.80707632e-03 -3.91545267e+00] [-1.30921827e-01 -2.44907966e-02 9.91090145e-01 -4.67157372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.89, Y:-3.90, Z:-4.68 [[ 9.65416250e-01 2.27076529e-01 1.28092604e-01 3.58867555e+01] [-2.22958784e-01 9.73750898e-01 -4.58101501e-02 -3.89557317e+00] [-1.35132698e-01 1.56664922e-02 9.90703646e-01 -4.68493174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.91, Z:-4.69 [[ 9.65112244e-01 2.26525784e-01 1.31318036e-01 3.59160308e+01] [-2.25164679e-01 9.73991654e-01 -2.53204717e-02 -3.91113066e+00] [-1.33638411e-01 -5.13108612e-03 9.91016875e-01 -4.69117448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:-3.92, Z:-4.70 [[ 9.64973084e-01 2.27216806e-01 1.31146754e-01 3.59481187e+01] [-2.25862453e-01 9.73830332e-01 -2.53107997e-02 -3.91709618e+00] [-1.33465726e-01 -5.19688723e-03 9.91039804e-01 -4.69633817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.92, Z:-4.70 [[ 9.64975828e-01 2.27208681e-01 1.31140640e-01 3.59804377e+01] [-2.25851027e-01 9.73832365e-01 -2.53345183e-02 -3.92190775e+00] [-1.33465222e-01 -5.17105035e-03 9.91040007e-01 -4.70091837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.01, Y:-3.92, Z:-4.70 [[ 9.65026586e-01 2.26739362e-01 1.31578681e-01 3.60133345e+01] [-2.25364789e-01 9.73942129e-01 -2.54448789e-02 -3.92480480e+00] [-1.33919376e-01 -5.09821704e-03 9.90979116e-01 -4.70463589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.94, Z:-4.71 [[ 9.65034982e-01 2.23070251e-01 1.37648638e-01 3.60421913e+01] [-2.23512368e-01 9.74621750e-01 -1.24364758e-02 -3.93686914e+00] [-1.36929564e-01 -1.87645389e-02 9.90403042e-01 -4.71039144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.08, Y:-3.92, Z:-4.71 [[ 9.66109166e-01 2.22937652e-01 1.30122570e-01 3.60773754e+01] [-2.19667862e-01 9.74788938e-01 -3.91478728e-02 -3.92397190e+00] [-1.35569577e-01 9.23737181e-03 9.90724765e-01 -4.71277682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.94, Z:-4.72 [[ 9.66617387e-01 2.18795504e-01 1.33339250e-01 3.61079311e+01] [-2.17301183e-01 9.75762543e-01 -2.58390208e-02 -3.93654763e+00] [-1.35760907e-01 -3.99832997e-03 9.90733561e-01 -4.71901722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.94, Z:-4.72 [[ 9.67156307e-01 2.16239828e-01 1.33600206e-01 3.61406810e+01] [-2.14711784e-01 9.76333562e-01 -2.59157240e-02 -3.94181112e+00] [-1.36042377e-01 -3.62098268e-03 9.90696402e-01 -4.72376666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.95, Z:-4.73 [[ 9.68087693e-01 2.11235163e-01 1.34855202e-01 3.61722988e+01] [-2.09626078e-01 9.77430912e-01 -2.61862502e-02 -3.94698989e+00] [-1.37343100e-01 -2.91858048e-03 9.90519235e-01 -4.72829657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.95, Z:-4.73 [[ 9.68600325e-01 2.08716331e-01 1.35095905e-01 3.62046839e+01] [-2.07073612e-01 9.77972921e-01 -2.62580303e-02 -3.95250781e+00] [-1.37600617e-01 -2.54126043e-03 9.90484534e-01 -4.73330142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:-3.96, Z:-4.74 [[ 9.69782846e-01 2.03902320e-01 1.33959231e-01 3.62365094e+01] [-2.02237888e-01 9.78989554e-01 -2.60631990e-02 -3.95558642e+00] [-1.36459034e-01 -1.81598862e-03 9.90644050e-01 -4.73758841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.27, Y:-3.96, Z:-4.74 [[ 9.70272017e-01 2.02034735e-01 1.33244805e-01 3.62684649e+01] [-2.00367259e-01 9.79377176e-01 -2.59482064e-02 -3.96031645e+00] [-1.35739360e-01 -1.52107787e-03 9.90743414e-01 -4.74307929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:-3.97, Z:-4.75 [[ 9.70729587e-01 2.00316053e-01 1.32504896e-01 3.62995380e+01] [-1.98647651e-01 9.79730535e-01 -2.58299960e-02 -3.96575779e+00] [-1.34993256e-01 -1.24784505e-03 9.90845732e-01 -4.74798077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.33, Y:-3.98, Z:-4.74 [[ 9.72004246e-01 1.93878541e-01 1.32736046e-01 3.63303360e+01] [-1.95620685e-01 9.80679632e-01 8.58858636e-05 -3.98479041e+00] [-1.30154885e-01 -2.60493976e-02 9.91151419e-01 -4.74185794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995871560000005 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:36.36, Y:-3.96, Z:-4.76 [[ 9.71225842e-01 2.01438625e-01 1.27054492e-01 3.63649094e+01] [-1.96432072e-01 9.79195099e-01 -5.09057967e-02 -3.96077001e+00] [-1.34665530e-01 2.44834482e-02 9.90588591e-01 -4.75562043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.98, Z:-4.76 [[ 9.71281768e-01 1.97952464e-01 1.32009655e-01 3.63942803e+01] [-1.96267668e-01 9.80211241e-01 -2.57861661e-02 -3.98186265e+00] [-1.34501783e-01 -8.63594218e-04 9.90912975e-01 -4.76246072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.99, Z:-4.77 [[ 9.71446627e-01 1.97550193e-01 1.31397762e-01 3.64265703e+01] [-1.95876007e-01 9.80292452e-01 -2.56768187e-02 -3.98518221e+00] [-1.33880694e-01 -7.94009969e-04 9.90997139e-01 -4.76628996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.99, Z:-4.77 [[ 9.71308391e-01 1.98126701e-01 1.31551585e-01 3.64583452e+01] [-1.96450218e-01 9.80176051e-01 -2.57336453e-02 -3.99002990e+00] [-1.34042235e-01 -8.48031940e-04 9.90975257e-01 -4.77071636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.49, Y:-4.00, Z:-4.78 [[ 9.70547880e-01 1.98894830e-01 1.35932552e-01 3.64901461e+01] [-1.98217256e-01 9.79980851e-01 -1.86400279e-02 -3.99587282e+00] [-1.36918703e-01 -8.85313798e-03 9.90542725e-01 -4.77617272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.99, Z:-4.78 [[ 9.70441345e-01 2.02158826e-01 1.31815799e-01 3.65238043e+01] [-1.99449924e-01 9.79332513e-01 -3.35791224e-02 -3.99102933e+00] [-1.35879814e-01 6.29591755e-03 9.90705323e-01 -4.77825318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175871560000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:36.55, Y:-4.00, Z:-4.78 [[ 9.70140360e-01 2.02478383e-01 1.33529721e-01 3.65543869e+01] [-2.00783766e-01 9.79285713e-01 -2.61795893e-02 -4.00035812e+00] [-1.36064549e-01 -1.41272402e-03 9.90698967e-01 -4.78373866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.59, Y:-4.00, Z:-4.79 [[ 9.69870205e-01 2.02985662e-01 1.34716766e-01 3.65864435e+01] [-2.01261939e-01 9.79180604e-01 -2.64381744e-02 -4.00408138e+00] [-1.37278614e-01 -1.47175985e-03 9.90531381e-01 -4.78844464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:-4.01, Z:-4.79 [[ 9.69867175e-01 2.03056216e-01 1.34632227e-01 3.66179095e+01] [-2.01331826e-01 9.79165999e-01 -2.64469568e-02 -4.00877806e+00] [-1.37197518e-01 -1.45571682e-03 9.90542640e-01 -4.79339242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.65, Y:-4.01, Z:-4.80 [[ 9.70367428e-01 2.01448352e-01 1.33437686e-01 3.66504360e+01] [-1.99736177e-01 9.79498410e-01 -2.62359235e-02 -4.01328477e+00] [-1.35987185e-01 -1.19384760e-03 9.90709877e-01 -4.79910246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:-4.02, Z:-4.80 [[ 9.70659110e-01 1.99901005e-01 1.33643109e-01 3.66814999e+01] [-1.98165201e-01 9.79815637e-01 -2.63034395e-02 -4.01898433e+00] [-1.36203692e-01 -9.51740409e-04 9.90680397e-01 -4.80392561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:-4.03, Z:-4.81 [[ 9.70818704e-01 1.97647182e-01 1.35818390e-01 3.67123764e+01] [-1.96481959e-01 9.80259095e-01 -2.20668732e-02 -4.02711829e+00] [-1.37498667e-01 -5.26292999e-03 9.90487970e-01 -4.80964898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:-4.03, Z:-4.82 [[ 9.70956638e-01 1.95542973e-01 1.37862804e-01 3.67444545e+01] [-1.94540552e-01 9.80673035e-01 -2.08415911e-02 -4.03332696e+00] [-1.39273761e-01 -6.58362472e-03 9.90232031e-01 -4.81605394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:-4.03, Z:-4.82 [[ 9.71738783e-01 1.96167130e-01 1.31309535e-01 3.67778576e+01] [-1.92906710e-01 9.80510448e-01 -3.72325498e-02 -4.02930729e+00] [-1.36054173e-01 1.08498223e-02 9.90641985e-01 -4.81708797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:-4.04, Z:-4.82 [[ 9.71623303e-01 1.95092113e-01 1.33743129e-01 3.68087240e+01] [-1.93299590e-01 9.80784901e-01 -2.63864919e-02 -4.04164157e+00] [-1.36321038e-01 -2.14761555e-04 9.90664690e-01 -4.82274340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.84, Y:-4.05, Z:-4.83 [[ 9.71412457e-01 1.96378216e-01 1.33392031e-01 3.68405537e+01] [-1.94603629e-01 9.80528154e-01 -2.63432481e-02 -4.04729739e+00] [-1.35967882e-01 -3.68413956e-04 9.90713177e-01 -4.82716461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.87, Y:-4.06, Z:-4.83 [[ 9.70849403e-01 1.96274155e-01 1.37578681e-01 3.68713543e+01] [-1.95846815e-01 9.80491085e-01 -1.67707385e-02 -4.05787177e+00] [-1.38186333e-01 -1.06624850e-02 9.90348852e-01 -4.83400991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:-4.05, Z:-4.84 [[ 9.70560624e-01 2.02400720e-01 1.30560423e-01 3.69065747e+01] [-1.99332439e-01 9.79259561e-01 -3.62944918e-02 -4.04910228e+00] [-1.35198574e-01 9.20107711e-03 9.90775800e-01 -4.83538188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:-4.06, Z:-4.84 [[ 9.70299679e-01 2.02449294e-01 1.32411538e-01 3.69379816e+01] [-2.00748994e-01 9.79292070e-01 -2.62084656e-02 -4.05942799e+00] [-1.34975454e-01 -1.15141737e-03 9.90848273e-01 -4.84122832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:-4.06, Z:-4.85 [[ 9.69922682e-01 2.04099484e-01 1.32640080e-01 3.69695151e+01] [-2.02405014e-01 9.78949211e-01 -2.62802567e-02 -4.06150585e+00] [-1.35211689e-01 -1.35720016e-03 9.90815804e-01 -4.84628531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.00, Y:-4.08, Z:-4.85 [[ 9.69642045e-01 1.99679618e-01 1.41146568e-01 3.69984671e+01] [-2.02392426e-01 9.79291814e-01 4.98481570e-03 -4.08471781e+00] [-1.37228313e-01 -3.34004832e-02 9.89976160e-01 -4.84950221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:-4.05, Z:-4.85 [[ 9.69801241e-01 2.08623541e-01 1.26339902e-01 3.70367807e+01] [-2.02788941e-01 9.77529904e-01 -5.75493866e-02 -4.05039568e+00] [-1.35507189e-01 3.01911316e-02 9.90316261e-01 -4.85263223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:-4.08, Z:-4.86 [[ 9.69949064e-01 2.03001628e-01 1.34123644e-01 3.70647779e+01] [-2.01909214e-01 9.79160655e-01 -2.18421837e-02 -4.07556915e+00] [-1.35762594e-01 -5.89499395e-03 9.90723860e-01 -4.86249376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:-4.07, Z:-4.87 [[ 9.70193854e-01 2.04015056e-01 1.30773631e-01 3.70968641e+01] [-2.01699942e-01 9.78961290e-01 -3.08533046e-02 -4.07447108e+00] [-1.34316861e-01 3.55665276e-03 9.90932052e-01 -4.86523947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:-4.08, Z:-4.87 [[ 9.70492488e-01 2.02086087e-01 1.31550538e-01 3.71293481e+01] [-2.00392005e-01 9.79367250e-01 -2.61310991e-02 -4.08013353e+00] [-1.34117021e-01 -1.00164074e-03 9.90964995e-01 -4.87126129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:-4.09, Z:-4.88 [[ 9.70655960e-01 2.01381142e-01 1.31425428e-01 3.71603879e+01] [-1.99680212e-01 9.79512566e-01 -2.61332329e-02 -4.08519124e+00] [-1.33995598e-01 -8.76679020e-04 9.90981539e-01 -4.87607885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:-4.09, Z:-4.88 [[ 9.70906178e-01 1.99946982e-01 1.31766454e-01 3.71920385e+01] [-1.98220521e-01 9.79806499e-01 -2.62268842e-02 -4.09033865e+00] [-1.34349614e-01 -6.54971255e-04 9.90933778e-01 -4.88130188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:37.22, Y:-4.11, Z:-4.88 [[ 9.71673574e-01 1.95183643e-01 1.33243425e-01 3.72218476e+01] [-1.96425235e-01 9.80511083e-01 -3.89148288e-03 -4.10863078e+00] [-1.31406209e-01 -2.23911201e-02 9.91075701e-01 -4.87988810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:-4.09, Z:-4.89 [[ 9.72077981e-01 1.96883533e-01 1.27676444e-01 3.72564627e+01] [-1.92180543e-01 9.80170933e-01 -4.82864446e-02 -4.08934855e+00] [-1.34651545e-01 2.24012611e-02 9.90639765e-01 -4.88675566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.29, Y:-4.11, Z:-4.89 [[ 9.73252393e-01 1.88280654e-01 1.31644125e-01 3.72855467e+01] [-1.86445441e-01 9.82114760e-01 -2.62430032e-02 -4.10871574e+00] [-1.34230688e-01 9.96618687e-04 9.90949610e-01 -4.89441504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.32, Y:-4.12, Z:-4.90 [[ 9.73751428e-01 1.86019919e-01 1.31166864e-01 3.73170029e+01] [-1.84174193e-01 9.82545075e-01 -2.61733179e-02 -4.11621653e+00] [-1.33746115e-01 1.32875429e-03 9.91014738e-01 -4.89960164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:-4.12, Z:-4.90 [[ 9.74162271e-01 1.83890749e-01 1.31118506e-01 3.73483456e+01] [-1.82023741e-01 9.82945311e-01 -2.61891939e-02 -4.12431410e+00] [-1.33698271e-01 1.64584356e-03 9.91020718e-01 -4.90364632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:-4.13, Z:-4.91 [[ 9.74365956e-01 1.82697762e-01 1.31272658e-01 3.73802993e+01] [-1.80812121e-01 9.83167409e-01 -2.62454490e-02 -4.13190318e+00] [-1.33857983e-01 1.83698426e-03 9.90998822e-01 -4.90809470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.41, Y:-4.14, Z:-4.91 [[ 9.74347585e-01 1.83156993e-01 1.30768114e-01 3.74108741e+01] [-1.81286509e-01 9.83082042e-01 -2.61705937e-02 -4.13976046e+00] [-1.33349112e-01 1.79275981e-03 9.91067505e-01 -4.91233324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:-4.15, Z:-4.92 [[ 9.73677412e-01 1.86388216e-01 1.31193487e-01 3.74424833e+01] [-1.84531382e-01 9.82475207e-01 -2.62799843e-02 -4.14826481e+00] [-1.33792628e-01 1.37891159e-03 9.91008391e-01 -4.91601155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:-4.15, Z:-4.92 [[ 9.73079549e-01 1.89249496e-01 1.31532576e-01 3.74733011e+01] [-1.87405396e-01 9.81928510e-01 -2.63745873e-02 -4.15494337e+00] [-1.34146964e-01 1.01465702e-03 9.90960929e-01 -4.92061809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.51, Y:-4.16, Z:-4.92 [[ 9.72417070e-01 1.92388174e-01 1.31878094e-01 3.75057921e+01] [-1.90559427e-01 9.81318714e-01 -2.64704783e-02 -4.16161812e+00] [-1.34507049e-01 6.09730943e-04 9.90912449e-01 -4.92484324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.54, Y:-4.17, Z:-4.93 [[ 9.71702958e-01 1.95572333e-01 1.32456876e-01 3.75364560e+01] [-1.93753231e-01 9.80689260e-01 -2.66131776e-02 -4.16811239e+00] [-1.35103837e-01 1.96155657e-04 9.90831426e-01 -4.92959708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:-4.18, Z:-4.93 [[ 9.70441578e-01 2.00920565e-01 1.33693945e-01 3.75674812e+01] [-1.99114189e-01 9.79607395e-01 -2.68866541e-02 -4.17516715e+00] [-1.36369659e-01 -5.28434506e-04 9.90657881e-01 -4.93343795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.60, Y:-4.20, Z:-4.93 [[ 9.70054582e-01 2.01562885e-01 1.35523106e-01 3.75985935e+01] [-2.02907055e-01 9.79189972e-01 -3.96564544e-03 -4.19500987e+00] [-1.33502193e-01 -2.36517018e-02 9.90766250e-01 -4.92958900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:-4.17, Z:-4.94 [[ 9.69109643e-01 2.10096983e-01 1.29173363e-01 3.76322337e+01] [-2.05287352e-01 9.77442235e-01 -4.96364849e-02 -4.17491332e+00] [-1.36687976e-01 2.15855386e-02 9.90378949e-01 -4.93967568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:-4.19, Z:-4.95 [[ 9.68910623e-01 2.08435770e-01 1.33291912e-01 3.76599354e+01] [-2.06703596e-01 9.78034865e-01 -2.68593948e-02 -4.19494469e+00] [-1.35962596e-01 -1.52756466e-03 9.90712793e-01 -4.94742938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:-4.22, Z:-4.95 [[ 9.69154667e-01 2.07690890e-01 1.32679036e-01 3.76908785e+01] [-2.08916056e-01 9.77921921e-01 -4.77470249e-03 -4.21574641e+00] [-1.30741400e-01 -2.30913558e-02 9.91147555e-01 -4.94536818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:-4.20, Z:-4.96 [[ 9.68214106e-01 2.15383803e-01 1.27166281e-01 3.77247218e+01] [-2.10884205e-01 9.76331471e-01 -4.80074045e-02 -4.19755233e+00] [-1.34496459e-01 1.96640862e-02 9.90718944e-01 -4.95571855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.75, Y:-4.22, Z:-4.96 [[ 9.67724356e-01 2.15294433e-01 1.30988084e-01 3.77544308e+01] [-2.13677005e-01 9.76546250e-01 -2.64491920e-02 -4.21572141e+00] [-1.33610286e-01 -2.39361418e-03 9.91031060e-01 -4.96297365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:-4.22, Z:-4.97 [[ 9.67344698e-01 2.16792065e-01 1.31321880e-01 3.77851761e+01] [-2.15176426e-01 9.76214393e-01 -2.65436271e-02 -4.22150229e+00] [-1.33952757e-01 -2.58053576e-03 9.90984359e-01 -4.96755922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:-4.23, Z:-4.97 [[ 9.67175760e-01 2.18016348e-01 1.30537048e-01 3.78175853e+01] [-2.16427826e-01 9.75941357e-01 -2.64095351e-02 -4.22707468e+00] [-1.33154214e-01 -2.70918741e-03 9.91091628e-01 -4.97179556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:-4.23, Z:-4.98 [[ 9.67022130e-01 2.18965099e-01 1.30086456e-01 3.78489903e+01] [-2.17392371e-01 9.75728667e-01 -2.63462559e-02 -4.23113300e+00] [-1.32697995e-01 -2.80239074e-03 9.91152556e-01 -4.97742086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:-4.24, Z:-4.98 [[ 9.67020500e-01 2.18799016e-01 1.30377694e-01 3.78798798e+01] [-2.17215540e-01 9.75766016e-01 -2.64214172e-02 -4.23693292e+00] [-1.32999104e-01 -2.77000928e-03 9.91112287e-01 -4.98245836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:-4.24, Z:-4.99 [[ 9.67162542e-01 2.17910115e-01 1.30812073e-01 3.79116239e+01] [-2.16304674e-01 9.75965291e-01 -2.65337122e-02 -4.24329975e+00] [-1.33450007e-01 -2.63285031e-03 9.91052049e-01 -4.98759451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:-4.25, Z:-4.99 [[ 9.67953283e-01 2.14271861e-01 1.30973325e-01 3.79421116e+01] [-2.12625721e-01 9.76771789e-01 -2.65927790e-02 -4.25033868e+00] [-1.33629133e-01 -2.10772991e-03 9.91029168e-01 -4.99279455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:-4.26, Z:-5.00 [[ 9.68423060e-01 2.12175108e-01 1.30914098e-01 3.79740329e+01] [-2.10508141e-01 9.77230017e-01 -2.66048249e-02 -4.25727819e+00] [-1.33578068e-01 -1.79375748e-03 9.91036670e-01 -4.99753166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:38.01, Y:-4.26, Z:-5.00 [[ 9.69153361e-01 2.08953825e-01 1.30690708e-01 3.80061973e+01] [-2.07259835e-01 9.77924615e-01 -2.65858483e-02 -4.26427147e+00] [-1.33360875e-01 -1.32117030e-03 9.91066664e-01 -5.00261481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:-4.27, Z:-5.01 [[ 9.69354810e-01 2.07920776e-01 1.30844197e-01 3.80385555e+01] [-2.06209878e-01 9.78144988e-01 -2.66433575e-02 -4.27101647e+00] [-1.33524303e-01 -1.15449911e-03 9.91044867e-01 -5.00672102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:-4.28, Z:-5.01 [[ 9.69441457e-01 2.07432552e-01 1.30977091e-01 3.80697402e+01] [-2.05710148e-01 9.78248745e-01 -2.66969499e-02 -4.27734525e+00] [-1.33665991e-01 -1.06218670e-03 9.91025870e-01 -5.01142009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.10, Y:-4.28, Z:-5.02 [[ 9.69244154e-01 2.08204130e-01 1.31212845e-01 3.81014390e+01] [-2.06479191e-01 9.78084723e-01 -2.67697130e-02 -4.28319726e+00] [-1.33910844e-01 -1.14633425e-03 9.90992720e-01 -5.01552558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.13, Y:-4.29, Z:-5.02 [[ 9.68933714e-01 2.09691890e-01 1.31136454e-01 3.81337972e+01] [-2.07979257e-01 9.77766613e-01 -2.67783292e-02 -4.28932947e+00] [-1.33836045e-01 -1.32723618e-03 9.91002599e-01 -5.02033119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:38.17, Y:-4.30, Z:-5.02 [[ 9.68570281e-01 2.11153331e-01 1.31475783e-01 3.81650063e+01] [-2.11193328e-01 9.77346876e-01 -1.38007774e-02 -4.30190196e+00] [-1.31411526e-01 -1.43997852e-02 9.91223313e-01 -5.02281781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:-4.29, Z:-5.03 [[ 9.67775216e-01 2.16756577e-01 1.28170658e-01 3.81985733e+01] [-2.13401583e-01 9.76164883e-01 -3.95207084e-02 -4.29310825e+00] [-1.33682069e-01 1.08953408e-02 9.90964377e-01 -5.02921979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:-4.31, Z:-5.04 [[ 9.67522103e-01 2.16446762e-01 1.30582465e-01 3.82291762e+01] [-2.14799969e-01 9.76291990e-01 -2.67380704e-02 -4.30643466e+00] [-1.33273983e-01 -2.17943523e-03 9.91076836e-01 -5.03558926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:-4.31, Z:-5.04 [[ 9.67050275e-01 2.18094548e-01 1.31333671e-01 3.82619610e+01] [-2.16440238e-01 9.75924707e-01 -2.69181992e-02 -4.31146663e+00] [-1.34042486e-01 -2.39463898e-03 9.90972693e-01 -5.04038186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.29, Y:-4.32, Z:-5.04 [[ 9.66929387e-01 2.18403894e-01 1.31709145e-01 3.82945064e+01] [-2.16739345e-01 9.75855465e-01 -2.70216016e-02 -4.31820316e+00] [-1.34430712e-01 -2.41857305e-03 9.90920044e-01 -5.04453626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:-4.33, Z:-5.05 [[ 9.66976256e-01 2.18109658e-01 1.31852561e-01 3.83250544e+01] [-2.16435048e-01 9.75921430e-01 -2.70782504e-02 -4.32516251e+00] [-1.34583768e-01 -2.35349022e-03 9.90899425e-01 -5.04933232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:-4.34, Z:-5.05 [[ 9.67286495e-01 2.16604921e-01 1.32057351e-01 3.83563128e+01] [-2.16250492e-01 9.76186501e-01 -1.71941923e-02 -4.33678892e+00] [-1.32636950e-01 -1.19257571e-02 9.91092940e-01 -5.05023680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:-4.34, Z:-5.05 [[ 9.67183273e-01 2.18210619e-01 1.30156222e-01 3.83890683e+01] [-2.16534211e-01 9.75899647e-01 -2.70705365e-02 -4.33776026e+00] [-1.32926490e-01 -2.00110483e-03 9.91123879e-01 -5.05394167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:-4.34, Z:-5.06 [[ 9.67121591e-01 2.18295820e-01 1.30471314e-01 3.84217743e+01] [-2.16563130e-01 9.75881233e-01 -2.74996442e-02 -4.34327172e+00] [-1.33327564e-01 -1.65977654e-03 9.91070636e-01 -5.05874184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:-4.35, Z:-5.06 [[ 9.67274580e-01 2.17023161e-01 1.31456590e-01 3.84515467e+01] [-2.16482183e-01 9.76109998e-01 -1.85670809e-02 -4.35341823e+00] [-1.32345579e-01 -1.04985442e-02 9.91148036e-01 -5.06058550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:-4.34, Z:-5.07 [[ 9.66721441e-01 2.20834224e-01 1.29158437e-01 3.84845525e+01] [-2.16653525e-01 9.75176104e-01 -4.57473014e-02 -4.34423904e+00] [-1.36054791e-01 1.62422665e-02 9.90568162e-01 -5.07169165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:-4.36, Z:-5.08 [[ 9.66858387e-01 2.17960801e-01 1.32958446e-01 3.85141948e+01] [-2.16238488e-01 9.75954992e-01 -2.74366593e-02 -4.36086154e+00] [-1.35741575e-01 -2.22336919e-03 9.90741783e-01 -5.07880758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:-4.37, Z:-5.08 [[ 9.66867062e-01 2.18144849e-01 1.32593020e-01 3.85454716e+01] [-2.16430155e-01 9.75913884e-01 -2.73875569e-02 -4.36560185e+00] [-1.35373824e-01 -2.21700112e-03 9.90792114e-01 -5.08349710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:-4.37, Z:-5.09 [[ 9.66846167e-01 2.18490489e-01 1.32175628e-01 3.85777439e+01] [-2.16786551e-01 9.75836520e-01 -2.73254028e-02 -4.37172276e+00] [-1.34952145e-01 -2.23443752e-03 9.90849598e-01 -5.08797393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:-4.38, Z:-5.09 [[ 9.66704715e-01 2.18910102e-01 1.32515513e-01 3.86095300e+01] [-2.17197744e-01 9.75742383e-01 -2.74215610e-02 -4.37762065e+00] [-1.35303859e-01 -2.27351812e-03 9.90801543e-01 -5.09296112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:38.64, Y:-4.38, Z:-5.10 [[ 9.66686266e-01 2.19196084e-01 1.32176924e-01 3.86422718e+01] [-2.17491672e-01 9.75678158e-01 -2.73770829e-02 -4.38297870e+00] [-1.34963087e-01 -2.28233006e-03 9.90847999e-01 -5.09714848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.67, Y:-4.39, Z:-5.10 [[ 9.66123849e-01 2.20899225e-01 1.33447524e-01 3.86729267e+01] [-2.19174191e-01 9.75293387e-01 -2.76673612e-02 -4.38662054e+00] [-1.36262187e-01 -2.51815564e-03 9.90669610e-01 -5.10133566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.70, Y:-4.39, Z:-5.11 [[ 9.65816541e-01 2.22036318e-01 1.33784461e-01 3.87046571e+01] [-2.20311697e-01 9.75034731e-01 -2.77494136e-02 -4.39209948e+00] [-1.36605874e-01 -2.67343903e-03 9.90621869e-01 -5.10593332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:-4.41, Z:-5.10 [[ 9.66180906e-01 2.19609095e-01 1.35152882e-01 3.87344475e+01] [-2.21062876e-01 9.75249886e-01 -4.34334487e-03 -4.40991430e+00] [-1.32761671e-01 -2.56808278e-02 9.90815237e-01 -5.10167013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.77, Y:-4.39, Z:-5.11 [[ 9.65061992e-01 2.27509698e-01 1.29979572e-01 3.87707790e+01] [-2.22723431e-01 9.73575969e-01 -5.04391294e-02 -4.38708483e+00] [-1.38020379e-01 1.97273905e-02 9.90232904e-01 -5.11197799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.80, Y:-4.40, Z:-5.12 [[ 9.65150533e-01 2.24516409e-01 1.34450102e-01 3.87975112e+01] [-2.22789618e-01 9.74465761e-01 -2.79511451e-02 -4.40366792e+00] [-1.37292512e-01 -2.97702430e-03 9.90526074e-01 -5.11947645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:-4.41, Z:-5.12 [[ 9.65213060e-01 2.24381169e-01 1.34226825e-01 3.88295274e+01] [-2.22659055e-01 9.74496979e-01 -2.79030946e-02 -4.40788646e+00] [-1.37064564e-01 -2.95438655e-03 9.90557710e-01 -5.12445468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36587156 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:38.86, Y:-4.41, Z:-5.13 [[ 9.65831896e-01 2.22966680e-01 1.32115892e-01 3.88605979e+01] [-2.21282211e-01 9.74822363e-01 -2.74871476e-02 -4.41033913e+00] [-1.34918244e-01 -2.68693276e-03 9.90853091e-01 -5.12916684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:-4.41, Z:-5.13 [[ 9.65984019e-01 2.22120468e-01 1.32428747e-01 3.88884698e+01] [-2.20416849e-01 9.75015890e-01 -2.75758294e-02 -4.41429218e+00] [-1.35245289e-01 -2.55171655e-03 9.90808862e-01 -5.13310687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425871560000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:38.92, Y:-4.42, Z:-5.14 [[ 9.66432699e-01 2.20765093e-01 1.31417701e-01 3.89180327e+01] [-2.19075473e-01 9.75324185e-01 -2.73618716e-02 -4.41833056e+00] [-1.34215409e-01 -2.34698769e-03 9.90949401e-01 -5.13746754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:-4.42, Z:-5.14 [[ 9.66658892e-01 2.19592468e-01 1.31718388e-01 3.89489608e+01] [-2.17884743e-01 9.75589227e-01 -2.74207843e-02 -4.42010205e+00] [-1.34524438e-01 -2.19288209e-03 9.90907850e-01 -5.14246067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:-4.42, Z:-5.15 [[ 9.66728246e-01 2.19141106e-01 1.31960878e-01 3.89792654e+01] [-2.17422411e-01 9.75690851e-01 -2.74746974e-02 -4.42426055e+00] [-1.34773857e-01 -2.13068622e-03 9.90874093e-01 -5.14668705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.01, Y:-4.43, Z:-5.15 [[ 9.66743088e-01 2.18958794e-01 1.32154637e-01 3.90084940e+01] [-2.17233074e-01 9.75731833e-01 -2.75169487e-02 -4.42853715e+00] [-1.34972564e-01 -2.10653804e-03 9.90847097e-01 -5.15101558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:-4.43, Z:-5.16 [[ 9.66392573e-01 2.19599831e-01 1.33646207e-01 3.90383423e+01] [-2.17841091e-01 9.75587502e-01 -2.78259948e-02 -4.42994772e+00] [-1.36494153e-01 -2.22280072e-03 9.90638383e-01 -5.15508769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.07, Y:-4.44, Z:-5.16 [[ 9.66314503e-01 2.19646754e-01 1.34132710e-01 3.90687738e+01] [-2.18522307e-01 9.75555346e-01 -2.32328934e-02 -4.43517363e+00] [-1.35956912e-01 -6.86070742e-03 9.90690996e-01 -5.15674237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:-4.43, Z:-5.16 [[ 9.65884402e-01 2.21660505e-01 1.33917667e-01 3.90990759e+01] [-2.19282679e-01 9.75121915e-01 -3.24400536e-02 -4.43285705e+00] [-1.37776731e-01 1.96751692e-03 9.90461358e-01 -5.16228530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.13, Y:-4.44, Z:-5.17 [[ 9.65868529e-01 2.21011391e-01 1.35099781e-01 3.91271675e+01] [-2.19884265e-01 9.75245330e-01 -2.33977816e-02 -4.44055965e+00] [-1.36926607e-01 -7.10713517e-03 9.90555699e-01 -5.16609285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:-4.44, Z:-5.17 [[ 9.65567908e-01 2.22737940e-01 1.34411406e-01 3.91569174e+01] [-2.20349299e-01 9.74876610e-01 -3.25849996e-02 -4.43527711e+00] [-1.38292451e-01 1.84557074e-03 9.90389717e-01 -5.17046969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.44, Z:-5.18 [[ 9.65736095e-01 2.21344087e-01 1.35501256e-01 3.91849009e+01] [-2.19554564e-01 9.75192530e-01 -2.82014623e-02 -4.44038536e+00] [-1.38382039e-01 -2.51474905e-03 9.90375730e-01 -5.17567642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.45, Z:-5.18 [[ 9.66223120e-01 2.19690827e-01 1.34717570e-01 3.92148115e+01] [-2.18396090e-01 9.75552606e-01 -2.45002025e-02 -4.44582758e+00] [-1.36806546e-01 -5.74912842e-03 9.90581100e-01 -5.17898578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.44, Z:-5.19 [[ 9.67029362e-01 2.16801325e-01 1.33609122e-01 3.92449663e+01] [-2.14555920e-01 9.76214652e-01 -3.11562258e-02 -4.44467844e+00] [-1.37185894e-01 1.46235701e-03 9.90544240e-01 -5.18516429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.46, Z:-5.19 [[ 9.67762785e-01 2.13697765e-01 1.33298379e-01 3.92746143e+01] [-2.12632670e-01 9.76876709e-01 -2.23437365e-02 -4.45536197e+00] [-1.34990889e-01 -6.72015367e-03 9.90824051e-01 -5.18783713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.45, Z:-5.19 [[ 9.68253290e-01 2.12335656e-01 1.31905781e-01 3.93049166e+01] [-2.09777324e-01 9.77186721e-01 -3.31600245e-02 -4.45298544e+00] [-1.35937633e-01 4.43646116e-03 9.90707463e-01 -5.19476777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.46, Z:-5.20 [[ 9.69021654e-01 2.08586369e-01 1.32245081e-01 3.93345348e+01] [-2.06761656e-01 9.78003729e-01 -2.75376948e-02 -4.46088868e+00] [-1.35080171e-01 -6.58589492e-04 9.90834453e-01 -5.20117584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.46, Z:-5.21 [[ 9.69871707e-01 2.04314708e-01 1.32681466e-01 3.93639374e+01] [-2.02437581e-01 9.78905254e-01 -2.76320393e-02 -4.46479133e+00] [-1.35528216e-01 -6.01818366e-05 9.90773485e-01 -5.20534465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.47, Z:-5.21 [[ 9.70194438e-01 2.02252454e-01 1.33479202e-01 3.93946080e+01] [-2.00332932e-01 9.79333391e-01 -2.77997293e-02 -4.47028105e+00] [-1.36343203e-01 2.30862810e-04 9.90661636e-01 -5.20974056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:-4.48, Z:-5.21 [[ 9.70767720e-01 1.98575538e-01 1.34825035e-01 3.94258926e+01] [-1.96581326e-01 9.80085294e-01 -2.80820180e-02 -4.47507669e+00] [-1.37716436e-01 7.57032497e-04 9.90471408e-01 -5.21468343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:-4.48, Z:-5.22 [[ 9.71010816e-01 1.97263092e-01 1.35000994e-01 3.94571631e+01] [-1.95247768e-01 9.80350109e-01 -2.81420133e-02 -4.48132183e+00] [-1.37899620e-01 9.67556670e-04 9.90445737e-01 -5.21980177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:-4.49, Z:-5.23 [[ 9.71333479e-01 1.95787401e-01 1.34827916e-01 3.94894679e+01] [-1.93759673e-01 9.80645631e-01 -2.81306938e-02 -4.48793642e+00] [-1.37726043e-01 1.20007169e-03 9.90469635e-01 -5.22511389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:-4.50, Z:-5.23 [[ 9.71869282e-01 1.93669094e-01 1.34023805e-01 3.95202724e+01] [-1.92456073e-01 9.81057304e-01 -2.20731946e-02 -4.49800173e+00] [-1.35759929e-01 -4.34143548e-03 9.90732251e-01 -5.22861392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.50, Z:-5.23 [[ 9.72268716e-01 1.92742323e-01 1.32453542e-01 3.95530453e+01] [-1.90847768e-01 9.81248948e-01 -2.69746436e-02 -4.50231560e+00] [-1.35169054e-01 9.48139251e-04 9.90822097e-01 -5.23446223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:-4.51, Z:-5.24 [[ 9.72715569e-01 1.90604849e-01 1.32265692e-01 3.95852798e+01] [-1.87729563e-01 9.81632281e-01 -3.39952400e-02 -4.50586941e+00] [-1.36315931e-01 8.23751867e-03 9.90631168e-01 -5.23981386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:-4.52, Z:-5.25 [[ 9.72918009e-01 1.88761642e-01 1.33415102e-01 3.96162065e+01] [-1.86700479e-01 9.82020368e-01 -2.79092783e-02 -4.51714006e+00] [-1.36284549e-01 2.24477605e-03 9.90667191e-01 -5.24624632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.65, Y:-4.53, Z:-5.25 [[ 9.73203357e-01 1.87577744e-01 1.33003071e-01 3.96474854e+01] [-1.85514740e-01 9.82246756e-01 -2.78494497e-02 -4.52510978e+00] [-1.35865772e-01 2.42914770e-03 9.90724276e-01 -5.25230895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175871560000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:39.68, Y:-4.54, Z:-5.26 [[ 9.73390852e-01 1.86658304e-01 1.32924514e-01 3.96787607e+01] [-1.84585617e-01 9.82421504e-01 -2.78592790e-02 -4.53525541e+00] [-1.35788067e-01 2.58201390e-03 9.90734543e-01 -5.25683967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:-4.54, Z:-5.26 [[ 9.73332645e-01 1.86883877e-01 1.33033748e-01 3.97098261e+01] [-1.84806146e-01 9.82378625e-01 -2.79092424e-02 -4.54395683e+00] [-1.35905298e-01 2.57952241e-03 9.90718475e-01 -5.26134625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.74, Y:-4.55, Z:-5.27 [[ 9.73251275e-01 1.87372666e-01 1.32941489e-01 3.97417174e+01] [-1.85300238e-01 9.82285655e-01 -2.79054282e-02 -4.55291661e+00] [-1.35815233e-01 2.52490397e-03 9.90730966e-01 -5.26606284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:-4.56, Z:-5.27 [[ 9.73049451e-01 1.88165964e-01 1.33297921e-01 3.97740001e+01] [-1.86086205e-01 9.82134199e-01 -2.80060566e-02 -4.56098805e+00] [-1.36186233e-01 2.44637378e-03 9.90680234e-01 -5.27043805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:-4.57, Z:-5.27 [[ 9.72398017e-01 1.90885066e-01 1.34182666e-01 3.98058244e+01] [-1.88799592e-01 9.81610136e-01 -2.82180070e-02 -4.56901890e+00] [-1.37101462e-01 2.10550144e-03 9.90554772e-01 -5.27498172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:39.84, Y:-4.58, Z:-5.28 [[ 9.72084781e-01 1.92396868e-01 1.34293054e-01 3.98364867e+01] [-1.90318579e-01 9.81315320e-01 -2.82680319e-02 -4.57638364e+00] [-1.37222513e-01 1.92046033e-03 9.90538386e-01 -5.28150619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.87, Y:-4.58, Z:-5.29 [[ 9.71613777e-01 1.94504596e-01 1.34664880e-01 3.98683920e+01] [-1.92432679e-01 9.80900231e-01 -2.83619670e-02 -4.58473953e+00] [-1.37609345e-01 1.64295415e-03 9.90485219e-01 -5.28509257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.90, Y:-4.59, Z:-5.29 [[ 9.71226907e-01 1.96517139e-01 1.34533676e-01 3.98993632e+01] [-1.94464813e-01 9.80499415e-01 -2.83607861e-02 -4.59312227e+00] [-1.37483571e-01 1.38269234e-03 9.90503082e-01 -5.28986120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.93, Y:-4.60, Z:-5.29 [[ 9.70562600e-01 2.00294657e-01 1.33754585e-01 3.99306337e+01] [-1.98298331e-01 9.79735320e-01 -2.82218851e-02 -4.60156970e+00] [-1.36696784e-01 8.67795353e-04 9.90612556e-01 -5.29482178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.61, Z:-5.30 [[ 9.70120531e-01 2.02410439e-01 1.33776565e-01 3.99609909e+01] [-2.00432003e-01 9.79300606e-01 -2.82371120e-02 -4.60907167e+00] [-1.36722957e-01 5.80297228e-04 9.90609154e-01 -5.29966522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.62, Z:-5.30 [[ 9.69656483e-01 2.04570648e-01 1.33854973e-01 3.99912412e+01] [-2.02606902e-01 9.78851756e-01 -2.82786802e-02 -4.61656088e+00] [-1.36809164e-01 3.00664097e-04 9.90597376e-01 -5.30423422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.62, Z:-5.31 [[ 9.68549536e-01 2.09537167e-01 1.34186331e-01 4.00227468e+01] [-2.07608170e-01 9.77800609e-01 -2.83693038e-02 -4.62380808e+00] [-1.37151900e-01 -3.81102571e-04 9.90549954e-01 -5.30810482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:-4.63, Z:-5.31 [[ 9.67958372e-01 2.12063091e-01 1.34483587e-01 4.00526549e+01] [-2.10146359e-01 9.77255715e-01 -2.84565614e-02 -4.63021287e+00] [-1.37459440e-01 -7.16469322e-04 9.90507137e-01 -5.31220548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.64, Z:-5.32 [[ 9.67414068e-01 2.14378514e-01 1.34728890e-01 4.00824956e+01] [-2.12476627e-01 9.76750102e-01 -2.85117618e-02 -4.63705209e+00] [-1.37708766e-01 -1.04406063e-03 9.90472213e-01 -5.31701130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.64, Z:-5.32 [[ 9.66422705e-01 2.18078465e-01 1.35900472e-01 4.01106912e+01] [-2.16179065e-01 9.75929958e-01 -2.87633292e-02 -4.64397601e+00] [-1.38902004e-01 -1.58130251e-03 9.90304869e-01 -5.32201878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.14, Y:-4.65, Z:-5.33 [[ 9.66177590e-01 2.19494842e-01 1.35362032e-01 4.01414475e+01] [-2.17689880e-01 9.75611089e-01 -2.81801185e-02 -4.65147985e+00] [-1.38246090e-01 -2.23994554e-03 9.90395376e-01 -5.32573659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.66, Z:-5.33 [[ 9.65907166e-01 2.20575727e-01 1.35534851e-01 4.01711139e+01] [-2.18741726e-01 9.75367480e-01 -2.84664085e-02 -4.65846405e+00] [-1.38475285e-01 -2.15121928e-03 9.90363553e-01 -5.33057387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.20, Y:-4.66, Z:-5.34 [[ 9.65719665e-01 2.20883984e-01 1.36366398e-01 4.02000407e+01] [-2.18854855e-01 9.75299596e-01 -2.98872985e-02 -4.66452516e+00] [-1.39599719e-01 -9.81696503e-04 9.90207531e-01 -5.33504986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715871560000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:40.23, Y:-4.68, Z:-5.35 [[ 9.65668051e-01 2.18144506e-01 1.41060944e-01 4.02279544e+01] [-2.17597201e-01 9.75844171e-01 -1.94836312e-02 -4.67854109e+00] [-1.41903747e-01 -1.18797464e-02 9.89809173e-01 -5.34527207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.26, Y:-4.67, Z:-5.34 [[ 9.66048593e-01 2.21309798e-01 1.33312002e-01 4.02619047e+01] [-2.18039849e-01 9.75166968e-01 -3.88330762e-02 -4.67482535e+00] [-1.38595601e-01 8.44730989e-03 9.90313033e-01 -5.34356538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:-4.69, Z:-5.35 [[ 9.66488648e-01 2.18837294e-01 1.34201089e-01 4.02904386e+01] [-2.17790022e-01 9.75733545e-01 -2.26175857e-02 -4.69285768e+00] [-1.35894075e-01 -7.36801823e-03 9.90695974e-01 -5.34843714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.32, Y:-4.70, Z:-5.35 [[ 9.66466435e-01 2.19676966e-01 1.32983689e-01 4.03203211e+01] [-2.17803452e-01 9.75571844e-01 -2.86571736e-02 -4.69547873e+00] [-1.36030464e-01 -1.26811025e-03 9.90703843e-01 -5.35187224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:-4.70, Z:-5.36 [[ 9.66272682e-01 2.19868453e-01 1.34070752e-01 4.03476893e+01] [-2.17154199e-01 9.75519421e-01 -3.47262623e-02 -4.69939793e+00] [-1.38423832e-01 4.44101181e-03 9.90363125e-01 -5.35747225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:-4.71, Z:-5.36 [[ 9.66236936e-01 2.19029571e-01 1.35691678e-01 4.03774849e+01] [-2.17132371e-01 9.75716870e-01 -2.88118640e-02 -4.70950750e+00] [-1.38707309e-01 -1.62396858e-03 9.90332088e-01 -5.36283641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.41, Y:-4.72, Z:-5.37 [[ 9.66201182e-01 2.19073764e-01 1.35874801e-01 4.04064832e+01] [-2.17171412e-01 9.75706939e-01 -2.88538915e-02 -4.71538648e+00] [-1.38895117e-01 -1.62945835e-03 9.90305756e-01 -5.36838282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:-4.72, Z:-5.37 [[ 9.66004945e-01 2.19868500e-01 1.35986357e-01 4.04357062e+01] [-2.17969686e-01 9.75527973e-01 -2.88858177e-02 -4.72240464e+00] [-1.39009577e-01 -1.73706087e-03 9.90289513e-01 -5.37133167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:-4.73, Z:-5.38 [[ 9.65791160e-01 2.20763167e-01 1.36055352e-01 4.04675369e+01] [-2.19024847e-01 9.75322999e-01 -2.78058376e-02 -4.73266796e+00] [-1.38836419e-01 -2.94487058e-03 9.90310949e-01 -5.37572742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:40.50, Y:-4.74, Z:-5.38 [[ 9.65463913e-01 2.21554367e-01 1.37087911e-01 4.04969972e+01] [-2.19425495e-01 9.75147895e-01 -3.06436754e-02 -4.73721007e+00] [-1.40470228e-01 -4.95219929e-04 9.90084779e-01 -5.38248850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:-4.75, Z:-5.38 [[ 9.65178624e-01 2.22688370e-01 1.37259290e-01 4.05278634e+01] [-2.20777152e-01 9.74887355e-01 -2.91906504e-02 -4.74538349e+00] [-1.40312764e-01 -2.12952340e-03 9.90104941e-01 -5.38432719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.56, Y:-4.75, Z:-5.39 [[ 9.64936873e-01 2.23861161e-01 1.37051130e-01 4.05569273e+01] [-2.21967027e-01 9.74618347e-01 -2.91498966e-02 -4.75130787e+00] [-1.40098076e-01 -2.29302186e-03 9.90134976e-01 -5.38915250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:-4.76, Z:-5.39 [[ 9.64956383e-01 2.24095428e-01 1.36529919e-01 4.05852673e+01] [-2.22217827e-01 9.74564453e-01 -2.90407269e-02 -4.75685003e+00] [-1.39565100e-01 -2.31634701e-03 9.90210189e-01 -5.39309975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:-4.77, Z:-5.40 [[ 9.65403627e-01 2.23279729e-01 1.34692240e-01 4.06165318e+01] [-2.22116780e-01 9.74729667e-01 -2.37952146e-02 -4.76684982e+00] [-1.36601512e-01 -6.94542027e-03 9.90601730e-01 -5.39517638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.77, Z:-5.40 [[ 9.65128694e-01 2.24511893e-01 1.34614317e-01 4.06444942e+01] [-2.21885195e-01 9.74465639e-01 -3.44046432e-02 -4.76641357e+00] [-1.38901278e-01 3.33598443e-03 9.90300614e-01 -5.40117697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:-4.78, Z:-5.40 [[ 9.65767907e-01 2.21915758e-01 1.34334459e-01 4.06748029e+01] [-2.20725933e-01 9.75043563e-01 -2.38770361e-02 -4.78089782e+00] [-1.36280640e-01 -6.59142363e-03 9.90648343e-01 -5.40432615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:-4.78, Z:-5.41 [[ 9.65544866e-01 2.22569994e-01 1.34854404e-01 4.07016812e+01] [-2.19934597e-01 9.74910485e-01 -3.43266564e-02 -4.78127895e+00] [-1.39111056e-01 3.48477796e-03 9.90270655e-01 -5.41016955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:-4.79, Z:-5.42 [[ 9.66002600e-01 2.19308320e-01 1.36904482e-01 4.07297397e+01] [-2.17367279e-01 9.75654306e-01 -2.91571886e-02 -4.79198004e+00] [-1.39965861e-01 -1.59263467e-03 9.90155049e-01 -5.41502715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.80, Z:-5.42 [[ 9.66259436e-01 2.18016581e-01 1.37154923e-01 4.07597431e+01] [-2.16055472e-01 9.75944049e-01 -2.92103714e-02 -4.79904098e+00] [-1.40223876e-01 -1.40827469e-03 9.90118822e-01 -5.41901974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:-4.81, Z:-5.42 [[ 9.66418903e-01 2.16962477e-01 1.37701808e-01 4.07891227e+01] [-2.14974527e-01 9.76179134e-01 -2.93300207e-02 -4.80567124e+00] [-1.40785146e-01 -1.25729469e-03 9.90039374e-01 -5.42287759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:-4.82, Z:-5.43 [[ 9.66782018e-01 2.14349023e-01 1.39237302e-01 4.08199901e+01] [-2.12800538e-01 9.76747205e-01 -2.60926875e-02 -4.81622754e+00] [-1.41592588e-01 -4.40383174e-03 9.89915221e-01 -5.42807818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:-4.82, Z:-5.43 [[ 9.66810293e-01 2.15197166e-01 1.37724496e-01 4.08486415e+01] [-2.12605433e-01 9.76565871e-01 -3.34369472e-02 -4.81961820e+00] [-1.41692579e-01 3.04620856e-03 9.89906023e-01 -5.43101573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:-4.83, Z:-5.44 [[ 9.66958187e-01 2.14153433e-01 1.38311864e-01 4.08800150e+01] [-2.12116681e-01 9.76799677e-01 -2.94771782e-02 -4.83043446e+00] [-1.41415623e-01 -8.35054704e-04 9.89949961e-01 -5.43709467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.91, Y:-4.84, Z:-5.44 [[ 9.67231182e-01 2.13420887e-01 1.37533146e-01 4.09110998e+01] [-2.11395956e-01 9.76960101e-01 -2.93378787e-02 -4.84037405e+00] [-1.40625713e-01 -6.97439869e-04 9.90062585e-01 -5.44239803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:-4.85, Z:-5.45 [[ 9.67381365e-01 2.13037719e-01 1.37070149e-01 4.09419214e+01] [-2.11018809e-01 9.77043783e-01 -2.92661464e-02 -4.84859121e+00] [-1.40158330e-01 -6.12854869e-04 9.90128914e-01 -5.44763856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.98, Y:-4.86, Z:-5.45 [[ 9.67752334e-01 2.12070388e-01 1.35946942e-01 4.09768721e+01] [-2.10374704e-01 9.77250992e-01 -2.68883339e-02 -4.85967371e+00] [-1.38556504e-01 -2.57854978e-03 9.90351173e-01 -5.45228822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495871560000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.00, Y:-4.86, Z:-5.46 [[ 9.67663869e-01 2.13088775e-01 1.34980782e-01 4.10040674e+01] [-2.10661044e-01 9.77029076e-01 -3.21886420e-02 -4.86148707e+00] [-1.38739187e-01 2.71259332e-03 9.90325239e-01 -5.45861768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.87, Z:-5.46 [[ 9.67483416e-01 2.14040581e-01 1.34768203e-01 4.10334736e+01] [-2.12091613e-01 9.76824523e-01 -2.88270526e-02 -4.87134298e+00] [-1.37815045e-01 -6.93510331e-04 9.90457739e-01 -5.46212995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:41.06, Y:-4.88, Z:-5.47 [[ 9.67361703e-01 2.14618888e-01 1.34722192e-01 4.10646937e+01] [-2.12675189e-01 9.76697573e-01 -2.88290628e-02 -4.87848336e+00] [-1.37770100e-01 -7.63936406e-04 9.90463940e-01 -5.46889048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:-4.89, Z:-5.47 [[ 9.66995139e-01 2.16141269e-01 1.34919802e-01 4.10960975e+01] [-2.14203493e-01 9.76361628e-01 -2.88934962e-02 -4.88705456e+00] [-1.37975595e-01 -9.60422459e-04 9.90435163e-01 -5.47182399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:41.13, Y:-4.90, Z:-5.48 [[ 9.67160511e-01 2.15842911e-01 1.34210221e-01 4.11309017e+01] [-2.14762098e-01 9.76403627e-01 -2.26538636e-02 -4.89988820e+00] [-1.35933023e-01 -6.91334648e-03 9.90693908e-01 -5.47662719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:-4.90, Z:-5.48 [[ 9.66265172e-01 2.20784547e-01 1.32611468e-01 4.11617281e+01] [-2.18120351e-01 9.75312737e-01 -3.44757684e-02 -4.89943176e+00] [-1.36949371e-01 4.38747427e-03 9.90568332e-01 -5.48003724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:-4.91, Z:-5.49 [[ 9.65728488e-01 2.22211232e-01 1.34129254e-01 4.11895818e+01] [-2.20060807e-01 9.74998511e-01 -3.08406205e-02 -4.90729565e+00] [-1.37628956e-01 2.67073793e-04 9.90483821e-01 -5.48542414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705871560000006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:41.22, Y:-4.91, Z:-5.49 [[ 9.65266399e-01 2.23927020e-01 1.34601150e-01 4.12198346e+01] [-2.22055961e-01 9.74603980e-01 -2.89522572e-02 -4.91394988e+00] [-1.37666009e-01 -1.94234669e-03 9.90476803e-01 -5.49231950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:-4.92, Z:-5.49 [[ 9.64943183e-01 2.25495364e-01 1.34300016e-01 4.12492219e+01] [-2.23647330e-01 9.74241851e-01 -2.88909488e-02 -4.92056266e+00] [-1.37355471e-01 -2.15771591e-03 9.90519469e-01 -5.49433200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:-4.93, Z:-5.49 [[ 9.65537744e-01 2.23388145e-01 1.33546255e-01 4.12808162e+01] [-2.23528402e-01 9.74594901e-01 -1.41362166e-02 -4.93424693e+00] [-1.33311362e-01 -1.62023302e-02 9.90941757e-01 -5.49419026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:-4.93, Z:-5.51 [[ 9.64136778e-01 2.26550695e-01 1.38257208e-01 4.13117542e+01] [-2.25101285e-01 9.73981969e-01 -2.62399650e-02 -4.93440017e+00] [-1.40604710e-01 -5.82295997e-03 9.90048690e-01 -5.50605922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:-4.93, Z:-5.50 [[ 9.63976102e-01 2.32904096e-01 1.28474729e-01 4.13440192e+01] [-2.28548976e-01 9.72354935e-01 -4.78669681e-02 -4.92561421e+00] [-1.36071450e-01 1.67798456e-02 9.90556913e-01 -5.50415713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:-4.94, Z:-5.51 [[ 9.63965782e-01 2.30761510e-01 1.32359726e-01 4.13689802e+01] [-2.29008243e-01 9.73006287e-01 -2.85305042e-02 -4.94030651e+00] [-1.35370588e-01 -2.80903849e-03 9.90791054e-01 -5.51137242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:-4.94, Z:-5.52 [[ 9.63873691e-01 2.31019783e-01 1.32579667e-01 4.13965924e+01] [-2.29263741e-01 9.72944865e-01 -2.85731868e-02 -4.94393736e+00] [-1.35593678e-01 -2.85476747e-03 9.90760417e-01 -5.51601262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:-4.98, Z:-5.52 [[ 9.63869521e-01 2.19963405e-01 1.50238635e-01 4.14180534e+01] [-2.26283482e-01 9.73710717e-01 2.61385960e-02 -4.97682786e+00] [-1.40539434e-01 -5.91907174e-02 9.88304167e-01 -5.52165345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:-4.92, Z:-5.52 [[ 0.96374839 0.23676681 0.12300616 41.46339065] [-0.22758532 0.97011219 -0.08418591 -4.92137968] [-0.1392622 0.05313964 0.98882871 -5.51504303] [ 0. 0. 0. 1. ]] SLAMing on 43.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:-4.96, Z:-5.53 [[ 9.64323823e-01 2.27351273e-01 1.35613285e-01 4.14858213e+01] [-2.25479644e-01 9.73809837e-01 -2.92118389e-02 -4.95896696e+00] [-1.38702900e-01 -2.40836309e-03 9.90331109e-01 -5.52881785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.96, Z:-5.53 [[ 9.65371126e-01 2.22600352e-01 1.36042904e-01 4.15159063e+01] [-2.20669459e-01 9.74908250e-01 -2.93069014e-02 -4.96410537e+00] [-1.39153076e-01 -1.72847755e-03 9.90269374e-01 -5.53305531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:-4.97, Z:-5.54 [[ 9.66012357e-01 2.19637321e-01 1.36306909e-01 4.15472258e+01] [-2.17666340e-01 9.75580752e-01 -2.93863969e-02 -4.97057182e+00] [-1.39432746e-01 -1.28180343e-03 9.90230714e-01 -5.53804103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.98, Z:-5.54 [[ 9.66723472e-01 2.16204996e-01 1.36752072e-01 4.15784058e+01] [-2.14183396e-01 9.76347691e-01 -2.95069257e-02 -4.97779528e+00] [-1.39897114e-01 -7.64985385e-04 9.90165750e-01 -5.54309263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:-4.99, Z:-5.55 [[ 9.68216777e-01 2.07422294e-01 1.39757881e-01 4.16105345e+01] [-2.05953179e-01 9.78241034e-01 -2.50553016e-02 -4.98897302e+00] [-1.41913922e-01 -4.52461655e-03 9.89868661e-01 -5.54906843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:-4.99, Z:-5.55 [[ 9.69152880e-01 2.05507179e-01 1.36049601e-01 4.16408634e+01] [-2.02620540e-01 9.78635686e-01 -3.48871184e-02 -4.99089420e+00] [-1.40312548e-01 6.24450750e-03 9.90087569e-01 -5.55174046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15587156 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:41.67, Y:-5.00, Z:-5.56 [[ 9.70023689e-01 2.01030139e-01 1.36531779e-01 4.16709252e+01] [-1.98856014e-01 9.79583926e-01 -2.95231561e-02 -5.00255213e+00] [-1.39679380e-01 1.48799546e-03 9.90195666e-01 -5.55960639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:-5.01, Z:-5.56 [[ 9.70676904e-01 1.97896505e-01 1.36467293e-01 4.17011830e+01] [-1.95689785e-01 9.80220951e-01 -2.95363517e-02 -5.01220594e+00] [-1.39613240e-01 1.96499928e-03 9.90204162e-01 -5.56183539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.73, Y:-5.02, Z:-5.57 [[ 9.71868861e-01 1.92546913e-01 1.35634075e-01 4.17316263e+01] [-1.90311844e-01 9.81283940e-01 -2.93808092e-02 -5.02397409e+00] [-1.38752723e-01 2.74152272e-03 9.90323263e-01 -5.56654616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:-5.03, Z:-5.57 [[ 9.72266036e-01 1.90712358e-01 1.35379286e-01 4.17632164e+01] [-1.88464359e-01 9.81641306e-01 -2.93518524e-02 -5.03282178e+00] [-1.38491660e-01 3.02363891e-03 9.90358984e-01 -5.57159888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:-5.05, Z:-5.57 [[ 9.73232980e-01 1.85292385e-01 1.35956971e-01 4.17877265e+01] [-1.85956625e-01 9.82526111e-01 -7.91048738e-03 -5.04908453e+00] [-1.35047027e-01 -1.75833522e-02 9.90683161e-01 -5.56712429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.83, Y:-5.04, Z:-5.58 [[ 9.72728572e-01 1.91286092e-01 1.31182147e-01 4.18257642e+01] [-1.86419481e-01 9.81270337e-01 -4.85417608e-02 -5.03970782e+00] [-1.38010513e-01 2.27630499e-02 9.90169148e-01 -5.57890710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:-5.06, Z:-5.59 [[ 9.72573982e-01 1.89292245e-01 1.35160258e-01 4.18531480e+01] [-1.87030093e-01 9.81915329e-01 -2.93603691e-02 -5.06469960e+00] [-1.38273619e-01 3.27609548e-03 9.90388648e-01 -5.58569867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:-5.07, Z:-5.59 [[ 9.72228943e-01 1.91042213e-01 1.35180457e-01 4.18847949e+01] [-1.88792534e-01 9.81577072e-01 -2.93910061e-02 -5.07472328e+00] [-1.38304960e-01 3.05372567e-03 9.90384982e-01 -5.59041836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.91, Y:-5.08, Z:-5.60 [[ 9.71793971e-01 1.93300698e-01 1.35097442e-01 4.19147521e+01] [-1.91071698e-01 9.81135687e-01 -2.94001820e-02 -5.08354494e+00] [-1.38231997e-01 2.75762201e-03 9.90396037e-01 -5.59628926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:-5.10, Z:-5.60 [[ 9.70558427e-01 1.99237530e-01 1.35354153e-01 4.19459787e+01] [-1.97055118e-01 9.79949322e-01 -2.94721483e-02 -5.09505597e+00] [-1.38512169e-01 1.93221336e-03 9.90358847e-01 -5.59846214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:-5.10, Z:-5.60 [[ 9.69780913e-01 2.02849897e-01 1.35561424e-01 4.19770713e+01] [-2.00692122e-01 9.79208778e-01 -2.95438819e-02 -5.10362202e+00] [-1.38735909e-01 1.44498304e-03 9.90328359e-01 -5.60334998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:-5.11, Z:-5.61 [[ 9.69035489e-01 2.06520847e-01 1.35349030e-01 4.20088313e+01] [-2.04401769e-01 9.78441745e-01 -2.95240335e-02 -5.11220015e+00] [-1.38528470e-01 9.44255005e-04 9.90358002e-01 -5.60800549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:-5.12, Z:-5.61 [[ 9.67857641e-01 2.12725171e-01 1.34162544e-01 4.20400583e+01] [-2.10698786e-01 9.77112069e-01 -2.92920965e-02 -5.12329609e+00] [-1.37323007e-01 8.26944404e-05 9.90526317e-01 -5.61304028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:-5.13, Z:-5.62 [[ 9.67199987e-01 2.15926303e-01 1.33790941e-01 4.20706558e+01] [-2.13940116e-01 9.76409598e-01 -2.92219882e-02 -5.13257299e+00] [-1.36944554e-01 -3.59742789e-04 9.90578649e-01 -5.61802955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:-5.14, Z:-5.62 [[ 9.66422428e-01 2.19249140e-01 1.34005616e-01 4.21026055e+01] [-2.17284745e-01 9.75668573e-01 -2.92946295e-02 -5.14160271e+00] [-1.37167891e-01 -8.06389266e-04 9.90547485e-01 -5.62275530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:-5.15, Z:-5.63 [[ 9.65614927e-01 2.22546898e-01 1.34390071e-01 4.21337514e+01] [-2.20599263e-01 9.74921181e-01 -2.94050293e-02 -5.14977856e+00] [-1.37563725e-01 -1.25241537e-03 9.90492127e-01 -5.62689991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:-5.16, Z:-5.63 [[ 9.64242900e-01 2.27095621e-01 1.36613353e-01 4.21602582e+01] [-2.26738528e-01 9.73782261e-01 -1.83779344e-02 -5.16260734e+00] [-1.37205208e-01 -1.32547179e-02 9.90453958e-01 -5.62804013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:-5.17, Z:-5.63 [[ 9.63324091e-01 2.31959159e-01 1.34913471e-01 4.21914019e+01] [-2.30392791e-01 9.72713894e-01 -2.73284122e-02 -5.16649977e+00] [-1.37571283e-01 -4.75697323e-03 9.90480446e-01 -5.63254411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:42.23, Y:-5.17, Z:-5.64 [[ 9.62595502e-01 2.36690354e-01 1.31861957e-01 4.22256926e+01] [-2.33413259e-01 9.71554391e-01 -4.00039512e-02 -5.16909357e+00] [-1.37579613e-01 7.72929437e-03 9.90460554e-01 -5.64269930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:-5.18, Z:-5.65 [[ 9.61348046e-01 2.40516090e-01 1.34022183e-01 4.22532947e+01] [-2.38732350e-01 9.70638223e-01 -2.94670003e-02 -5.18281034e+00] [-1.37174341e-01 -3.66738755e-03 9.90540131e-01 -5.64635768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:-5.19, Z:-5.65 [[ 9.61350702e-01 2.40505689e-01 1.34021794e-01 4.22824431e+01] [-2.38721602e-01 9.70640813e-01 -2.94687711e-02 -5.18917714e+00] [-1.37174430e-01 -3.66407351e-03 9.90540131e-01 -5.65079949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:-5.20, Z:-5.65 [[ 9.60906695e-01 2.40983124e-01 1.36328488e-01 4.23088813e+01] [-2.40809579e-01 9.70405206e-01 -1.80134116e-02 -5.19968170e+00] [-1.36634803e-01 -1.55199980e-02 9.90499904e-01 -5.65264840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:-5.20, Z:-5.66 [[ 9.60361657e-01 2.45603964e-01 1.31849080e-01 4.23459095e+01] [-2.42449522e-01 9.69350560e-01 -3.97205266e-02 -5.19587310e+00] [-1.37563498e-01 6.17932432e-03 9.90473675e-01 -5.65956572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:-5.21, Z:-5.67 [[ 9.60232955e-01 2.45608362e-01 1.32775016e-01 4.23721937e+01] [-2.43899715e-01 9.69359573e-01 -2.92394839e-02 -5.20589711e+00] [-1.35888194e-01 -4.30707249e-03 9.90714817e-01 -5.66561700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:-5.21, Z:-5.67 [[ 9.60310060e-01 2.45583339e-01 1.32262662e-01 4.23994640e+01] [-2.43888488e-01 9.69365977e-01 -2.91205753e-02 -5.21117351e+00] [-1.35362452e-01 -4.29255916e-03 9.90786849e-01 -5.66976148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:42.43, Y:-5.22, Z:-5.67 [[ 9.60500508e-01 2.44481006e-01 1.32920319e-01 4.24269426e+01] [-2.44134026e-01 9.69552275e-01 -1.91562859e-02 -5.22177842e+00] [-1.33556546e-01 -1.40507503e-02 9.90941585e-01 -5.67278756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:-5.22, Z:-5.68 [[ 9.60211560e-01 2.46532351e-01 1.31208079e-01 4.24588775e+01] [-2.43593449e-01 9.69122834e-01 -3.82513397e-02 -5.21743320e+00] [-1.36586938e-01 4.76795001e-03 9.90616614e-01 -5.67699921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:-5.23, Z:-5.68 [[ 9.60218144e-01 2.43681574e-01 1.36383307e-01 4.24831825e+01] [-2.43669218e-01 9.69708623e-01 -1.70440192e-02 -5.23337359e+00] [-1.36405383e-01 -1.68664373e-02 9.90509513e-01 -5.68000736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:-5.23, Z:-5.68 [[ 9.60231443e-01 2.45631276e-01 1.32743560e-01 4.25191412e+01] [-2.42323699e-01 9.69338142e-01 -4.07773435e-02 -5.22532816e+00] [-1.38689587e-01 6.98877679e-03 9.90311242e-01 -5.68458524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:-5.24, Z:-5.69 [[ 9.60737964e-01 2.41545391e-01 1.36522487e-01 4.25450356e+01] [-2.41500917e-01 9.70249193e-01 -1.71409231e-02 -5.24291975e+00] [-1.36601144e-01 -1.65023703e-02 9.90488667e-01 -5.68547411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:-5.23, Z:-5.69 [[ 9.60806241e-01 2.43257231e-01 1.32955958e-01 4.25782348e+01] [-2.39806015e-01 9.69927875e-01 -4.16292227e-02 -5.23442055e+00] [-1.39084299e-01 8.11397848e-03 9.90247303e-01 -5.69425218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:-5.25, Z:-5.70 [[ 9.61405402e-01 2.39810799e-01 1.34871915e-01 4.26054407e+01] [-2.37987516e-01 9.70813261e-01 -2.97246538e-02 -5.24595427e+00] [-1.38063736e-01 -3.52038918e-03 9.90417090e-01 -5.70049988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:-5.25, Z:-5.71 [[ 9.62007956e-01 2.37672818e-01 1.34358936e-01 4.26350720e+01] [-2.35842925e-01 9.71339989e-01 -2.96098106e-02 -5.25070821e+00] [-1.37545654e-01 -3.20273107e-03 9.90490250e-01 -5.70571077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.66, Y:-5.25, Z:-5.71 [[ 9.63404563e-01 2.32496392e-01 1.33405682e-01 4.26649176e+01] [-2.30643048e-01 9.72594185e-01 -2.93996039e-02 -5.25393333e+00] [-1.36584892e-01 -2.44538055e-03 9.90625352e-01 -5.71122214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.69, Y:-5.27, Z:-5.71 [[ 9.64488403e-01 2.27768906e-01 1.33729005e-01 4.26943184e+01] [-2.27851337e-01 9.73582016e-01 -1.48938408e-02 -5.26752481e+00] [-1.33588508e-01 -1.61053959e-02 9.90906013e-01 -5.71136005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.73, Y:-5.26, Z:-5.72 [[ 9.64929427e-01 2.28491851e-01 1.29238830e-01 4.27291988e+01] [-2.24778226e-01 9.73468477e-01 -4.28237393e-02 -5.25801609e+00] [-1.35594802e-01 1.22718113e-02 9.90688373e-01 -5.71987353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:-5.27, Z:-5.73 [[ 9.66499056e-01 2.20237294e-01 1.31814675e-01 4.27593898e+01] [-2.18309862e-01 9.75446096e-01 -2.90812316e-02 -5.27247601e+00] [-1.34982882e-01 -6.69460703e-04 9.90847704e-01 -5.72609194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.79, Y:-5.29, Z:-5.72 [[ 9.67125874e-01 2.16557936e-01 1.33304930e-01 4.27873839e+01] [-2.16615887e-01 9.76152987e-01 -1.42443934e-02 -5.28758094e+00] [-1.33210742e-01 -1.50998442e-02 9.90972700e-01 -5.72420344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.82, Y:-5.28, Z:-5.73 [[ 9.67336017e-01 2.18037806e-01 1.29307950e-01 4.28236884e+01] [-2.14149640e-01 9.75835420e-01 -4.34184786e-02 -5.27851855e+00] [-1.35650148e-01 1.43090072e-02 9.90653466e-01 -5.73339929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:-5.30, Z:-5.74 [[ 9.67900398e-01 2.10701097e-01 1.37017766e-01 4.28467531e+01] [-2.11162733e-01 9.77385315e-01 -1.13245531e-02 -5.30275240e+00] [-1.36305248e-01 -1.79720064e-02 9.90503855e-01 -5.73577863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:-5.30, Z:-5.74 [[ 9.68393845e-01 2.11177025e-01 1.32731399e-01 4.28827513e+01] [-2.08956787e-01 9.77445988e-01 -3.06006691e-02 -5.29859953e+00] [-1.36199932e-01 1.89837302e-03 9.90679552e-01 -5.73765981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385871560000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:42.91, Y:-5.30, Z:-5.74 [[ 9.68716704e-01 2.10041712e-01 1.32175742e-01 4.29142982e+01] [-2.07793500e-01 9.77689698e-01 -3.07362240e-02 -5.30480996e+00] [-1.35682750e-01 2.30943354e-03 9.90749644e-01 -5.74306297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:-5.30, Z:-5.75 [[ 9.68728349e-01 2.10326084e-01 1.31637095e-01 4.29479188e+01] [-2.06212407e-01 9.77504182e-01 -4.42946718e-02 -5.30404587e+00] [-1.37992136e-01 1.57643019e-02 9.90307860e-01 -5.75217043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:-5.34, Z:-5.76 [[ 9.68553513e-01 2.04401902e-01 1.41858927e-01 4.29723065e+01] [-2.05933316e-01 9.78558017e-01 -3.95944653e-03 -5.33500185e+00] [-1.39626509e-01 -2.53785435e-02 9.89878966e-01 -5.75615909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:-5.32, Z:-5.76 [[ 9.68822964e-01 2.09839262e-01 1.31717683e-01 4.30088089e+01] [-2.06497782e-01 9.77681801e-01 -3.86905892e-02 -5.32257998e+00] [-1.36896786e-01 1.02849220e-02 9.90531923e-01 -5.75561732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:43.04, Y:-5.33, Z:-5.77 [[ 9.68456776e-01 2.11626753e-01 1.31550716e-01 4.30387183e+01] [-2.07477206e-01 9.77220491e-01 -4.46466161e-02 -5.32648082e+00] [-1.38002474e-01 1.59445429e-02 9.90303534e-01 -5.76789610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535871560000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:43.07, Y:-5.34, Z:-5.77 [[ 9.67891594e-01 2.12525131e-01 1.34234610e-01 4.30682795e+01] [-2.10412987e-01 9.77155356e-01 -2.98962252e-02 -5.34189669e+00] [-1.37521767e-01 6.91599752e-04 9.90498503e-01 -5.77392506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565871560000005 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:43.10, Y:-5.35, Z:-5.78 [[ 9.67287179e-01 2.15268148e-01 1.34220480e-01 4.31005733e+01] [-2.13179066e-01 9.76554923e-01 -2.99193674e-02 -5.34820534e+00] [-1.37514358e-01 3.27623788e-04 9.90499719e-01 -5.77820256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:-5.35, Z:-5.78 [[ 9.66517129e-01 2.18285994e-01 1.34892048e-01 4.31328079e+01] [-2.16201352e-01 9.75884839e-01 -3.00957829e-02 -5.35388656e+00] [-1.38208592e-01 -7.57533960e-05 9.90403140e-01 -5.78246453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:-5.37, Z:-5.79 [[ 9.65333707e-01 2.20922434e-01 1.39011192e-01 4.31579092e+01] [-2.20623430e-01 9.75197497e-01 -1.77523218e-02 -5.36528621e+00] [-1.39485252e-01 -1.35322112e-02 9.90131680e-01 -5.78657511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:-5.36, Z:-5.79 [[ 9.63750609e-01 2.32027270e-01 1.31712221e-01 4.31970620e+01] [-2.28539693e-01 9.72661696e-01 -4.12169059e-02 -5.35737147e+00] [-1.37674879e-01 9.62134759e-03 9.90430743e-01 -5.79047495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:43.23, Y:-5.37, Z:-5.80 [[ 9.62901967e-01 2.34809459e-01 1.32982405e-01 4.32258528e+01] [-2.32932046e-01 9.72038572e-01 -2.97266825e-02 -5.36851061e+00] [-1.36244133e-01 -2.35198254e-03 9.90672501e-01 -5.79684301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:-5.37, Z:-5.80 [[ 9.61910558e-01 2.38367202e-01 1.33825090e-01 4.32552894e+01] [-2.36499490e-01 9.71170860e-01 -2.99190908e-02 -5.37288961e+00] [-1.37098758e-01 -2.87007616e-03 9.90553226e-01 -5.80165594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:-5.37, Z:-5.81 [[ 9.60585031e-01 2.44244351e-01 1.32744472e-01 4.32850215e+01] [-2.42462981e-01 9.69706732e-01 -2.96741594e-02 -5.37482224e+00] [-1.35970954e-01 -3.68106708e-03 9.90705985e-01 -5.80629372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:-5.38, Z:-5.81 [[ 9.60051170e-01 2.46336363e-01 1.32740905e-01 4.33128534e+01] [-2.44575366e-01 9.69176225e-01 -2.96704344e-02 -5.37806965e+00] [-1.35958236e-01 -3.98002011e-03 9.90706575e-01 -5.81095724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:-5.39, Z:-5.81 [[ 9.60243814e-01 2.44576256e-01 1.34589272e-01 4.33394712e+01] [-2.45763172e-01 9.69297029e-01 -7.98334499e-03 -5.39424470e+00] [-1.32409518e-01 -2.54111288e-02 9.90869312e-01 -5.80827531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:-5.37, Z:-5.82 [[ 9.59479130e-01 2.50921542e-01 1.28211463e-01 4.33729358e+01] [-2.46360100e-01 9.67859828e-01 -5.05376493e-02 -5.37437133e+00] [-1.36771709e-01 1.69036310e-02 9.90458362e-01 -5.81682106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:-5.39, Z:-5.82 [[ 9.60093283e-01 2.46257395e-01 1.32582745e-01 4.33982776e+01] [-2.44503305e-01 9.69196258e-01 -2.96099193e-02 -5.38923171e+00] [-1.35790361e-01 -3.98863464e-03 9.90729564e-01 -5.82422179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:-5.39, Z:-5.83 [[ 9.60430164e-01 2.44980479e-01 1.32508357e-01 4.34258058e+01] [-2.43217183e-01 9.69520516e-01 -2.95866677e-02 -5.39305304e+00] [-1.35717727e-01 -3.81238124e-03 9.90740210e-01 -5.82854594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.45, Y:-5.39, Z:-5.83 [[ 9.61100402e-01 2.42189767e-01 1.32778512e-01 4.34534159e+01] [-2.40393990e-01 9.70222822e-01 -2.96379142e-02 -5.39441387e+00] [-1.36002742e-01 -3.43414507e-03 9.90702509e-01 -5.83253434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:-5.40, Z:-5.84 [[ 9.61421886e-01 2.40839908e-01 1.32906339e-01 4.34797944e+01] [-2.39029112e-01 9.70559396e-01 -2.96570924e-02 -5.39749730e+00] [-1.36136107e-01 -3.25550644e-03 9.90684794e-01 -5.83667472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.51, Y:-5.40, Z:-5.84 [[ 9.61824438e-01 2.39853648e-01 1.31772444e-01 4.35080905e+01] [-2.38066494e-01 9.70804099e-01 -2.93895486e-02 -5.40138989e+00] [-1.34974419e-01 -3.10301781e-03 9.90844225e-01 -5.84009828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:-5.40, Z:-5.85 [[ 9.62468135e-01 2.36278113e-01 1.33520570e-01 4.35370831e+01] [-2.34409743e-01 9.71681875e-01 -2.97725785e-02 -5.40329411e+00] [-1.36774127e-01 -2.64336454e-03 9.90598734e-01 -5.84501803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.41, Z:-5.85 [[ 9.62941673e-01 2.34353754e-01 1.33497765e-01 4.35646108e+01] [-2.32468525e-01 9.72148483e-01 -2.97609176e-02 -5.40749267e+00] [-1.36754233e-01 -2.37600079e-03 9.90602157e-01 -5.84904411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:-5.41, Z:-5.85 [[ 9.63508453e-01 2.31641263e-01 1.34140921e-01 4.35927874e+01] [-2.29712770e-01 9.72799203e-01 -2.98957258e-02 -5.41131653e+00] [-1.37417265e-01 -2.00909811e-03 9.90511211e-01 -5.85361525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.43, Z:-5.85 [[ 9.65452682e-01 2.22357090e-01 1.35861851e-01 4.36204439e+01] [-2.23563135e-01 9.74667701e-01 -6.51136167e-03 -5.42619286e+00] [-1.33868006e-01 -2.40872898e-02 9.90706394e-01 -5.85074191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:-5.40, Z:-5.86 [[ 9.65557169e-01 2.25898867e-01 1.29108697e-01 4.36538053e+01] [-2.20816222e-01 9.73895932e-01 -5.26014226e-02 -5.40464186e+00] [-1.37621037e-01 2.22803860e-02 9.90234333e-01 -5.85815541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.42, Z:-5.87 [[ 9.66395427e-01 2.19293465e-01 1.34127756e-01 4.36792044e+01] [-2.17246971e-01 9.75658912e-01 -2.98904870e-02 -5.42266066e+00] [-1.37417729e-01 -2.52818832e-04 9.90513152e-01 -5.86619747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:-5.43, Z:-5.87 [[ 9.67135672e-01 2.16005898e-01 1.34126970e-01 4.37073222e+01] [-2.13928379e-01 9.76392036e-01 -2.98871405e-02 -5.42763013e+00] [-1.37416304e-01 2.11354378e-04 9.90513359e-01 -5.87036882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:-5.43, Z:-5.88 [[ 9.68406395e-01 2.10940426e-01 1.33015755e-01 4.37372831e+01] [-2.08850517e-01 9.77498489e-01 -2.96338696e-02 -5.43406014e+00] [-1.36273681e-01 9.17219546e-04 9.90670804e-01 -5.87550910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.77, Y:-5.44, Z:-5.88 [[ 9.68940778e-01 2.09151307e-01 1.31945063e-01 4.37667038e+01] [-2.07078083e-01 9.77882600e-01 -2.93987896e-02 -5.44028193e+00] [-1.35175576e-01 1.16275545e-03 9.90820979e-01 -5.87926297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285871560000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.80, Y:-5.45, Z:-5.88 [[ 9.69233404e-01 2.07945204e-01 1.31701936e-01 4.37977989e+01] [-2.05868367e-01 9.78139573e-01 -2.93460758e-02 -5.44559883e+00] [-1.34925252e-01 1.32993444e-03 9.90854887e-01 -5.88237304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:-5.45, Z:-5.89 [[ 9.69214700e-01 2.06834952e-01 1.33574581e-01 4.38269489e+01] [-2.04687342e-01 9.78374685e-01 -2.97668904e-02 -5.45005381e+00] [-1.36842822e-01 1.50948168e-03 9.90591623e-01 -5.88780401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:-5.47, Z:-5.89 [[ 9.69773081e-01 2.02573895e-01 1.36029367e-01 4.38567303e+01] [-2.02851178e-01 9.79136451e-01 -1.19670716e-02 -5.46696392e+00] [-1.35615528e-01 -1.59883735e-02 9.90632525e-01 -5.88677756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:-5.45, Z:-5.89 [[ 9.69549183e-01 2.07684902e-01 1.29774280e-01 4.38905217e+01] [-2.03132161e-01 9.77996898e-01 -4.75330671e-02 -5.45307607e+00] [-1.36790743e-01 1.97243166e-02 9.90403576e-01 -5.89326754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:-5.47, Z:-5.90 [[ 9.69669879e-01 2.04887095e-01 1.33272669e-01 4.39179863e+01] [-2.02727678e-01 9.78783953e-01 -2.97231035e-02 -5.46892033e+00] [-1.36535030e-01 1.80353944e-03 9.90633602e-01 -5.90106120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:-5.47, Z:-5.91 [[ 9.69704748e-01 2.04778030e-01 1.33186558e-01 4.39498890e+01] [-2.02618750e-01 9.78806728e-01 -2.97158340e-02 -5.47418486e+00] [-1.36449049e-01 1.82949137e-03 9.90645401e-01 -5.90577044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:-5.48, Z:-5.91 [[ 9.69563822e-01 2.05406905e-01 1.33244129e-01 4.39812072e+01] [-2.03248443e-01 9.78675068e-01 -2.97519996e-02 -5.48141241e+00] [-1.36513973e-01 1.76480061e-03 9.90636573e-01 -5.91115652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:-5.49, Z:-5.92 [[ 9.69549579e-01 2.05800361e-01 1.32739687e-01 4.40106919e+01] [-2.03658524e-01 9.78592472e-01 -2.96644325e-02 -5.48781505e+00] [-1.36003009e-01 1.72756927e-03 9.90706918e-01 -5.91524596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525871560000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.04, Y:-5.49, Z:-5.92 [[ 9.69214492e-01 2.07888408e-01 1.31930580e-01 4.40404012e+01] [-2.05791737e-01 9.78151508e-01 -2.94854036e-02 -5.49336185e+00] [-1.35177769e-01 1.42745742e-03 9.90820333e-01 -5.91911470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:-5.51, Z:-5.92 [[ 9.69330699e-01 2.06101266e-01 1.33866592e-01 4.40685150e+01] [-2.06596093e-01 9.78371714e-01 -1.03365193e-02 -5.50947586e+00] [-1.33101657e-01 -1.76368094e-02 9.90945454e-01 -5.91836976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:-5.49, Z:-5.92 [[ 9.68589916e-01 2.13568603e-01 1.27365717e-01 4.41010749e+01] [-2.09003033e-01 9.76718949e-01 -4.83510886e-02 -5.49209957e+00] [-1.34726783e-01 2.02125558e-02 9.90676610e-01 -5.92415073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.13, Y:-5.51, Z:-5.93 [[ 9.68103215e-01 2.13757967e-01 1.30704613e-01 4.41276341e+01] [-2.11754899e-01 9.76886473e-01 -2.92007134e-02 -5.50599924e+00] [-1.33925454e-01 5.91962279e-04 9.90991232e-01 -5.93084495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.16, Y:-5.51, Z:-5.94 [[ 9.68105773e-01 2.13745926e-01 1.30705359e-01 4.41567480e+01] [-2.11743199e-01 9.76889109e-01 -2.91973770e-02 -5.51246569e+00] [-1.33925462e-01 5.90178496e-04 9.90991232e-01 -5.93536005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:-5.53, Z:-5.94 [[ 9.67610813e-01 2.11043667e-01 1.38527560e-01 4.41813350e+01] [-2.12292695e-01 9.77188513e-01 -5.86699137e-03 -5.53123799e+00] [-1.36605731e-01 -2.37314246e-02 9.90341201e-01 -5.93872966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:-5.51, Z:-5.94 [[ 9.67318307e-01 2.19305589e-01 1.27280601e-01 4.42157625e+01] [-2.14078044e-01 9.75346955e-01 -5.35621893e-02 -5.50873022e+00] [-1.35889234e-01 2.45637042e-02 9.90419477e-01 -5.93988999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:-5.53, Z:-5.95 [[ 9.67456794e-01 2.15491102e-01 1.32630828e-01 4.42389031e+01] [-2.13445457e-01 9.76505741e-01 -2.96238882e-02 -5.52707836e+00] [-1.35898449e-01 3.50384291e-04 9.90722710e-01 -5.94917358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:-5.53, Z:-5.95 [[ 9.67437856e-01 2.15348944e-01 1.32999350e-01 4.42666366e+01] [-2.13291786e-01 9.76537097e-01 -2.96970218e-02 -5.53197962e+00] [-1.36274021e-01 3.62354385e-04 9.90671116e-01 -5.95319204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:-5.55, Z:-5.95 [[ 9.68059533e-01 2.10148719e-01 1.36741568e-01 4.42939614e+01] [-2.11862729e-01 9.77297258e-01 -2.06251967e-03 -5.55295178e+00] [-1.34070595e-01 -2.69737999e-02 9.90604608e-01 -5.95211471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:44.33, Y:-5.53, Z:-5.95 [[ 9.67841541e-01 2.17721990e-01 1.26015421e-01 4.43279698e+01] [-2.12018669e-01 9.75590675e-01 -5.71919482e-02 -5.52611037e+00] [-1.35391415e-01 2.86351214e-02 9.90378309e-01 -5.95372066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:-5.55, Z:-5.97 [[ 9.67944333e-01 2.12828892e-01 1.33370279e-01 4.43500587e+01] [-2.10738532e-01 9.77089232e-01 -2.97641320e-02 -5.54761174e+00] [-1.36649331e-01 7.03765992e-04 9.90619233e-01 -5.96582513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885871560000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:44.38, Y:-5.55, Z:-5.97 [[ 9.68370329e-01 2.11705454e-01 1.32059480e-01 4.43783885e+01] [-2.09646925e-01 9.77333150e-01 -2.94632116e-02 -5.55449528e+00] [-1.35303630e-01 8.45435930e-04 9.90803822e-01 -5.96859622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:-5.56, Z:-5.97 [[ 9.68639117e-01 2.09607549e-01 1.33427643e-01 4.44056608e+01] [-2.07486554e-01 9.77784925e-01 -2.97652609e-02 -5.56009013e+00] [-1.36702562e-01 1.14735410e-03 9.90611474e-01 -5.97462582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:-5.57, Z:-5.98 [[ 9.68882207e-01 2.08472273e-01 1.33441299e-01 4.44341090e+01] [-2.06340830e-01 9.78027410e-01 -2.97631873e-02 -5.56619690e+00] [-1.36714047e-01 1.30263427e-03 9.90609697e-01 -5.97888081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:-5.59, Z:-5.98 [[ 9.69514539e-01 2.04440626e-01 1.35076235e-01 4.44615167e+01] [-2.05132580e-01 9.78693492e-01 -8.92601143e-03 -5.58526957e+00] [-1.34023072e-01 -1.90546387e-02 9.90795003e-01 -5.97615287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:-5.58, Z:-5.98 [[ 9.69620454e-01 2.06328634e-01 1.31395089e-01 4.44933644e+01] [-2.04559451e-01 9.78482482e-01 -2.69715315e-02 -5.58218229e+00] [-1.34132792e-01 -7.25958624e-04 9.90963101e-01 -5.97660639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:-5.58, Z:-5.99 [[ 9.69506078e-01 2.06658064e-01 1.31720956e-01 4.45229799e+01] [-2.03634102e-01 9.78378436e-01 -3.61771824e-02 -5.58425762e+00] [-1.36349249e-01 8.25111959e-03 9.90626469e-01 -5.98520377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:-5.58, Z:-5.99 [[ 9.69266690e-01 2.08772707e-01 1.30138545e-01 4.45513128e+01] [-2.04367917e-01 9.77790034e-01 -4.64801429e-02 -5.58494382e+00] [-1.36951958e-01 1.84555108e-02 9.90405753e-01 -5.99383525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:-5.61, Z:-6.00 [[ 9.69287783e-01 2.03892384e-01 1.37510322e-01 4.45785854e+01] [-2.03234902e-01 9.78946500e-01 -1.89558717e-02 -5.60859090e+00] [-1.38480206e-01 -9.57320193e-03 9.90318932e-01 -6.00256247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:-5.60, Z:-6.00 [[ 9.69079848e-01 2.08468568e-01 1.32004185e-01 4.46091888e+01] [-2.04643507e-01 9.77932449e-01 -4.20613877e-02 -5.60242408e+00] [-1.37859654e-01 1.37470438e-02 9.90356368e-01 -6.00431713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:-5.62, Z:-6.01 [[ 9.68973698e-01 2.07260921e-01 1.34658398e-01 4.46362235e+01] [-2.05077453e-01 9.78284557e-01 -3.00426876e-02 -5.61694173e+00] [-1.37960906e-01 1.49517286e-03 9.90436547e-01 -6.01106788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:44.66, Y:-5.62, Z:-6.01 [[ 9.68963921e-01 2.07743553e-01 1.33983345e-01 4.46643726e+01] [-2.05586605e-01 9.78182295e-01 -2.98922368e-02 -5.62375775e+00] [-1.37270056e-01 1.41931788e-03 9.90532643e-01 -6.01423419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:-5.63, Z:-6.02 [[ 9.68740548e-01 2.08288844e-01 1.34749796e-01 4.46924280e+01] [-2.06112479e-01 9.78066429e-01 -3.00617115e-02 -5.63064322e+00] [-1.38055771e-01 1.34838431e-03 9.90423539e-01 -6.01984612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:-5.64, Z:-6.02 [[ 9.68511421e-01 2.09787106e-01 1.34070870e-01 4.47196315e+01] [-2.07647443e-01 9.77746441e-01 -2.99071368e-02 -5.63819503e+00] [-1.37361448e-01 1.12593011e-03 9.90520351e-01 -6.02422028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.75, Y:-5.64, Z:-6.03 [[ 9.68252070e-01 2.11067059e-01 1.33935151e-01 4.47480979e+01] [-2.08944630e-01 9.77471133e-01 -2.98718247e-02 -5.64425822e+00] [-1.37222702e-01 9.38425564e-04 9.90539777e-01 -6.02906624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:-5.65, Z:-6.03 [[ 9.67469971e-01 2.14393670e-01 1.34302678e-01 4.47752266e+01] [-2.12291807e-01 9.76747223e-01 -2.99508039e-02 -5.64988102e+00] [-1.37601030e-01 4.65145287e-04 9.90487627e-01 -6.03347898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:44.80, Y:-5.66, Z:-6.04 [[ 9.67199703e-01 2.16236280e-01 1.33291434e-01 4.48030881e+01] [-2.14184400e-01 9.76341044e-01 -2.97188407e-02 -5.65629554e+00] [-1.36564189e-01 1.95108157e-04 9.90631205e-01 -6.03649606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:-5.66, Z:-6.04 [[ 9.66618376e-01 2.18300155e-01 1.34141555e-01 4.48311508e+01] [-2.16242560e-01 9.75881669e-01 -2.99019055e-02 -5.66165964e+00] [-1.37433875e-01 -1.03381872e-04 9.90510938e-01 -6.04212982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:-5.67, Z:-6.05 [[ 9.65790254e-01 2.22081285e-01 1.33899547e-01 4.48584734e+01] [-2.20068168e-01 9.75027941e-01 -2.98415210e-02 -5.66592968e+00] [-1.37183043e-01 -6.46377962e-04 9.90545504e-01 -6.04722800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:-5.67, Z:-6.05 [[ 9.65510400e-01 2.23524336e-01 1.33516059e-01 4.48859546e+01] [-2.21537664e-01 9.74697972e-01 -2.97477205e-02 -5.67166527e+00] [-1.36787172e-01 -8.57102418e-04 9.90600088e-01 -6.05175617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:-5.68, Z:-6.06 [[ 9.65254334e-01 2.24522694e-01 1.33692300e-01 4.49131098e+01] [-2.22541189e-01 9.74468341e-01 -2.97804019e-02 -5.67764426e+00] [-1.36965290e-01 -1.00638132e-03 9.90575336e-01 -6.05608177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.94, Y:-5.68, Z:-6.06 [[ 9.64968012e-01 2.25115656e-01 1.34757844e-01 4.49409230e+01] [-2.23109258e-01 9.74331419e-01 -3.00090845e-02 -5.68356485e+00] [-1.38054316e-01 -1.10791586e-03 9.90424040e-01 -6.06038551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.97, Y:-5.70, Z:-6.07 [[ 9.64719694e-01 2.22621176e-01 1.40555058e-01 4.49657652e+01] [-2.22293213e-01 9.74809381e-01 -1.82317845e-02 -5.69642520e+00] [-1.41073171e-01 -1.36558740e-02 9.89904984e-01 -6.06914523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:-5.69, Z:-6.07 [[ 9.65315342e-01 2.25539398e-01 1.31522891e-01 4.49968366e+01] [-2.21783632e-01 9.74159159e-01 -4.27311727e-02 -5.68772957e+00] [-1.37761792e-01 1.20794321e-02 9.90391729e-01 -6.06623383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:-5.70, Z:-6.07 [[ 9.65709197e-01 2.22468605e-01 1.33841203e-01 4.50226923e+01] [-2.20467283e-01 9.74939569e-01 -2.97827806e-02 -5.70091324e+00] [-1.37112818e-01 -7.46101237e-04 9.90555157e-01 -6.07302251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605871560000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:45.05, Y:-5.71, Z:-6.08 [[ 9.66590434e-01 2.19518641e-01 1.32342357e-01 4.50497691e+01] [-2.17535403e-01 9.75608250e-01 -2.94430134e-02 -5.70698573e+00] [-1.35577586e-01 -3.29813030e-04 9.90766678e-01 -6.07674385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.08, Y:-5.71, Z:-6.08 [[ 9.66836705e-01 2.17958449e-01 1.33119868e-01 4.50771117e+01] [-2.15938157e-01 9.75958042e-01 -2.96076384e-02 -5.71345380e+00] [-1.36372641e-01 -1.19907543e-04 9.90657604e-01 -6.08240185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:-5.72, Z:-6.09 [[ 9.67197120e-01 2.16405338e-01 1.33035561e-01 4.51033901e+01] [-2.14373874e-01 9.76303601e-01 -2.95824472e-02 -5.72042809e+00] [-1.36284897e-01 9.27091153e-05 9.90669682e-01 -6.08655918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:-5.73, Z:-6.09 [[ 9.67506122e-01 2.12293023e-01 1.37344738e-01 4.51282664e+01] [-2.11385233e-01 9.77170006e-01 -2.13322144e-02 -5.73256881e+00] [-1.38737839e-01 -8.39360151e-03 9.90293572e-01 -6.09359241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:-5.73, Z:-6.09 [[ 9.67984273e-01 2.13943176e-01 1.31281245e-01 4.51583207e+01] [-2.10663627e-01 9.76798391e-01 -3.85452798e-02 -5.72838771e+00] [-1.36481808e-01 9.65504145e-03 9.90595526e-01 -6.09262267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:-5.74, Z:-6.10 [[ 9.68176239e-01 2.11886313e-01 1.33187687e-01 4.51859541e+01] [-2.09809769e-01 9.77294060e-01 -2.96003453e-02 -5.74011550e+00] [-1.36435443e-01 7.14273142e-04 9.90648706e-01 -6.09840895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:-5.75, Z:-6.10 [[ 9.68480633e-01 2.10253737e-01 1.33561332e-01 4.52135197e+01] [-2.08150450e-01 9.77646396e-01 -2.96802117e-02 -5.74752906e+00] [-1.36816130e-01 9.43858928e-04 9.90596010e-01 -6.10342705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:-5.76, Z:-6.11 [[ 9.68398291e-01 2.08180591e-01 1.37352071e-01 4.52402307e+01] [-2.07150249e-01 9.78063675e-01 -2.19139502e-02 -5.75900403e+00] [-1.38901130e-01 -7.23108373e-03 9.90279853e-01 -6.11022548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:-5.76, Z:-6.11 [[ 9.68682392e-01 2.10836101e-01 1.31158538e-01 4.52708093e+01] [-2.07612360e-01 9.77475020e-01 -3.79432778e-02 -5.75749105e+00] [-1.36204007e-01 9.52485161e-03 9.90635021e-01 -6.11057440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:-5.77, Z:-6.12 [[ 9.68753009e-01 2.09375446e-01 1.32964398e-01 4.52974300e+01] [-2.07282248e-01 9.77834743e-01 -2.95513968e-02 -5.76939865e+00] [-1.36204545e-01 1.06684522e-03 9.90680162e-01 -6.11687997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:-5.78, Z:-6.12 [[ 9.68753896e-01 2.09217585e-01 1.33206196e-01 4.53248129e+01] [-2.07115669e-01 9.77868508e-01 -2.96020462e-02 -5.77632935e+00] [-1.36451413e-01 1.08800721e-03 9.90646167e-01 -6.12105590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:-5.78, Z:-6.13 [[ 9.68706160e-01 2.09503387e-01 1.33104122e-01 4.53528332e+01] [-2.07408078e-01 9.77807366e-01 -2.95743822e-02 -5.78348943e+00] [-1.36346124e-01 1.04201610e-03 9.90660713e-01 -6.12511148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965871560000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.38, Y:-5.79, Z:-6.13 [[ 9.68934240e-01 2.08941042e-01 1.32325654e-01 4.53807163e+01] [-2.06865528e-01 9.77927608e-01 -2.93980756e-02 -5.79162295e+00] [-1.35547375e-01 1.11118571e-03 9.90770243e-01 -6.12895374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:-5.80, Z:-6.13 [[ 9.68803291e-01 2.08802730e-01 1.33497579e-01 4.54108701e+01] [-2.06689085e-01 9.77957117e-01 -2.96563473e-02 -5.80013444e+00] [-1.36747234e-01 1.13867444e-03 9.90605319e-01 -6.13469247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025871560000006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:45.44, Y:-5.81, Z:-6.14 [[ 9.69019754e-01 2.08061879e-01 1.33082573e-01 4.54395091e+01] [-2.05953995e-01 9.78114876e-01 -2.95675816e-02 -5.80873516e+00] [-1.36321931e-01 1.24268311e-03 9.90663811e-01 -6.13891117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:-5.82, Z:-6.14 [[ 9.68958029e-01 2.07436349e-01 1.34500925e-01 4.54686638e+01] [-2.05276830e-01 9.78247590e-01 -2.98843722e-02 -5.81750299e+00] [-1.37774310e-01 1.34677887e-03 9.90462733e-01 -6.14411092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:-5.83, Z:-6.15 [[ 9.69205106e-01 2.05947448e-01 1.35007819e-01 4.54982874e+01] [-2.03756945e-01 9.78561800e-01 -2.99985137e-02 -5.82840483e+00] [-1.38291612e-01 1.56593201e-03 9.90390316e-01 -6.14881632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.53, Y:-5.84, Z:-6.15 [[ 9.69358854e-01 2.05086392e-01 1.35214587e-01 4.55284372e+01] [-2.02880572e-01 9.78742410e-01 -3.00461053e-02 -5.83736337e+00] [-1.38502298e-01 1.69304550e-03 9.90360665e-01 -6.15369184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.56, Y:-5.85, Z:-6.16 [[ 9.69498981e-01 2.04519480e-01 1.35068532e-01 4.55595953e+01] [-2.02309885e-01 9.78860850e-01 -3.00357535e-02 -5.84706939e+00] [-1.38356195e-01 1.79393327e-03 9.90380909e-01 -6.15832009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:-5.87, Z:-6.16 [[ 9.69967578e-01 2.01249366e-01 1.36607430e-01 4.55879928e+01] [-2.00767897e-01 9.79483630e-01 -1.74376174e-02 -5.86523650e+00] [-1.37314051e-01 -1.05124629e-02 9.90471776e-01 -6.15928757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205871560000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.62, Y:-5.86, Z:-6.17 [[ 9.69811608e-01 2.05217394e-01 1.31724202e-01 4.56199971e+01] [-2.01258371e-01 9.78600890e-01 -4.28411719e-02 -5.85938945e+00] [-1.37697175e-01 1.50372675e-02 9.90360222e-01 -6.16558654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:45.65, Y:-5.88, Z:-6.17 [[ 9.69836568e-01 2.03478324e-01 1.34214769e-01 4.56486523e+01] [-2.01280282e-01 9.79077456e-01 -2.98928453e-02 -5.87750040e+00] [-1.37489200e-01 1.97638788e-03 9.90501294e-01 -6.17254794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:-5.89, Z:-6.18 [[ 9.69411924e-01 2.04485398e-01 1.35743301e-01 4.56787173e+01] [-2.02242909e-01 9.78867808e-01 -3.02592193e-02 -5.89112763e+00] [-1.39062316e-01 1.88052788e-03 9.90281847e-01 -6.17831513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:-5.90, Z:-6.18 [[ 9.69199509e-01 2.05416939e-01 1.35853576e-01 4.57093971e+01] [-2.03176279e-01 9.78672946e-01 -3.03094778e-02 -5.90019270e+00] [-1.39182299e-01 1.77370706e-03 9.90265187e-01 -6.18307783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.74, Y:-5.91, Z:-6.19 [[ 9.68540782e-01 2.08778924e-01 1.35425678e-01 4.57405632e+01] [-2.06581828e-01 9.77961986e-01 -3.02374396e-02 -5.91111008e+00] [-1.38754105e-01 1.30970932e-03 9.90325998e-01 -6.18806843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:-5.92, Z:-6.19 [[ 9.68069745e-01 2.10767138e-01 1.35713604e-01 4.57710692e+01] [-2.08576246e-01 9.77535730e-01 -3.03289791e-02 -5.91971282e+00] [-1.39057249e-01 1.05393302e-03 9.90283783e-01 -6.19240359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385871560000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:45.80, Y:-5.93, Z:-6.20 [[ 9.67658173e-01 2.12833605e-01 1.35423471e-01 4.58020922e+01] [-2.10668708e-01 9.77088147e-01 -3.02894014e-02 -5.92789043e+00] [-1.38767271e-01 7.80299060e-04 9.90324712e-01 -6.19700391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:-5.94, Z:-6.20 [[ 9.66485728e-01 2.17646741e-01 1.36144163e-01 4.58331308e+01] [-2.15502529e-01 9.76027604e-01 -3.04758424e-02 -5.93950404e+00] [-1.39513429e-01 1.15055311e-04 9.90220172e-01 -6.20325406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:-5.95, Z:-6.21 [[ 9.65996106e-01 2.19959588e-01 1.35901810e-01 4.58644972e+01] [-2.17842132e-01 9.75508966e-01 -3.04477107e-02 -5.94885001e+00] [-1.39270700e-01 -1.92770032e-04 9.90254328e-01 -6.20830631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.90, Y:-5.96, Z:-6.21 [[ 9.65536774e-01 2.22028823e-01 1.35801105e-01 4.58951441e+01] [-2.19931103e-01 9.75039992e-01 -3.04519893e-02 -5.95751304e+00] [-1.39172727e-01 -4.64371278e-04 9.90268012e-01 -6.21347367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.93, Y:-5.97, Z:-6.22 [[ 9.65108144e-01 2.23929356e-01 1.35727352e-01 4.59263481e+01] [-2.21849100e-01 9.74605117e-01 -3.04604954e-02 -5.96562650e+00] [-1.39101571e-01 -7.13318830e-04 9.90277862e-01 -6.21905744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535871560000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.96, Y:-5.97, Z:-6.22 [[ 9.64814159e-01 2.25997406e-01 1.34383075e-01 4.59570824e+01] [-2.23975146e-01 9.74127412e-01 -3.01814492e-02 -5.97472257e+00] [-1.37727166e-01 -9.78979212e-04 9.90469722e-01 -6.22407993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565871560000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.99, Y:-5.98, Z:-6.23 [[ 9.64806214e-01 2.26034464e-01 1.34377786e-01 4.59877905e+01] [-2.24009285e-01 9.74118832e-01 -3.02049784e-02 -5.98166235e+00] [-1.37727298e-01 -9.59920885e-04 9.90469722e-01 -6.22884714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:-5.99, Z:-6.23 [[ 9.64379292e-01 2.27217601e-01 1.35442769e-01 4.60178868e+01] [-2.25170929e-01 9.73843354e-01 -3.04495389e-02 -5.99027656e+00] [-1.38818712e-01 -1.13286931e-03 9.90317162e-01 -6.23314226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:-6.00, Z:-6.24 [[ 9.64091710e-01 2.27888569e-01 1.36359723e-01 4.60472346e+01] [-2.25820164e-01 9.73686436e-01 -3.06590554e-02 -5.99823236e+00] [-1.39758461e-01 -1.23463400e-03 9.90184856e-01 -6.23811368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.08, Y:-6.01, Z:-6.24 [[ 9.63901386e-01 2.28530151e-01 1.36631210e-01 4.60768289e+01] [-2.26459405e-01 9.73535931e-01 -3.07234284e-02 -6.00602888e+00] [-1.40036622e-01 -1.32706724e-03 9.90145436e-01 -6.24304869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:-6.02, Z:-6.25 [[ 9.63109324e-01 2.30587157e-01 1.38744346e-01 4.61082447e+01] [-2.28472479e-01 9.73050277e-01 -3.12007154e-02 -6.01508492e+00] [-1.42199709e-01 -1.64956480e-03 9.89836614e-01 -6.24715944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:-6.02, Z:-6.25 [[ 9.62775123e-01 2.31869562e-01 1.38926487e-01 4.61386463e+01] [-2.29758459e-01 9.72745197e-01 -3.12703109e-02 -6.02279361e+00] [-1.42390707e-01 -1.81325815e-03 9.89808870e-01 -6.25154144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:-6.03, Z:-6.26 [[ 9.62258657e-01 2.33987950e-01 1.38952929e-01 4.61695233e+01] [-2.31894140e-01 9.72237227e-01 -3.13030562e-02 -6.02976859e+00] [-1.42419748e-01 -2.10073309e-03 9.89804123e-01 -6.25718335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:-6.04, Z:-6.26 [[ 9.62044094e-01 2.34910735e-01 1.38881634e-01 4.61996404e+01] [-2.32825142e-01 9.72014430e-01 -3.13113470e-02 -6.03630600e+00] [-1.42350324e-01 -2.21223972e-03 9.89813867e-01 -6.26209604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:-6.04, Z:-6.27 [[ 9.61740324e-01 2.35948429e-01 1.39226034e-01 4.62304626e+01] [-2.33860003e-01 9.71762737e-01 -3.14114845e-02 -6.04313160e+00] [-1.42706163e-01 -2.34970952e-03 9.89762310e-01 -6.26739594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:-6.05, Z:-6.27 [[ 9.61482639e-01 2.37487299e-01 1.38386840e-01 4.62606692e+01] [-2.35436441e-01 9.71387327e-01 -3.12464847e-02 -6.04975104e+00] [-1.41847866e-01 -2.53835256e-03 9.89885215e-01 -6.27263179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:-6.06, Z:-6.28 [[ 9.61307651e-01 2.38305756e-01 1.38195392e-01 4.62902356e+01] [-2.36265615e-01 9.71186614e-01 -3.12269246e-02 -6.05545099e+00] [-1.41655071e-01 -2.63213786e-03 9.89912578e-01 -6.27762341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:-6.06, Z:-6.28 [[ 9.61269271e-01 2.38696344e-01 1.37787680e-01 4.63200274e+01] [-2.36672263e-01 9.71090554e-01 -3.11347971e-02 -6.06120319e+00] [-1.41236077e-01 -2.68159837e-03 9.89972313e-01 -6.28255678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925871560000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:46.35, Y:-6.07, Z:-6.29 [[ 9.61272765e-01 2.38880822e-01 1.37443171e-01 4.63481071e+01] [-2.36868751e-01 9.71045135e-01 -3.10570590e-02 -6.06599602e+00] [-1.40882458e-01 -2.70168724e-03 9.90022643e-01 -6.28921573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.38, Y:-6.07, Z:-6.29 [[ 9.61307200e-01 2.38664248e-01 1.37578503e-01 4.63768420e+01] [-2.36646219e-01 9.71098463e-01 -3.10860326e-02 -6.07095591e+00] [-1.41021397e-01 -2.67420558e-03 9.90002936e-01 -6.29223763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.41, Y:-6.08, Z:-6.30 [[ 9.61446256e-01 2.38084146e-01 1.37611906e-01 4.64053000e+01] [-2.36059689e-01 9.71241070e-01 -3.10903026e-02 -6.07553702e+00] [-1.41056443e-01 -2.59296886e-03 9.89998160e-01 -6.29664481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:-6.08, Z:-6.30 [[ 9.61611509e-01 2.36734305e-01 1.38781027e-01 4.64338353e+01] [-2.34661901e-01 9.71571412e-01 -3.13493761e-02 -6.07872444e+00] [-1.42257151e-01 -2.42069876e-03 9.89826774e-01 -6.30107078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:-6.08, Z:-6.31 [[ 9.61777762e-01 2.35812125e-01 1.39198341e-01 4.64628492e+01] [-2.33718569e-01 9.71795946e-01 -3.14367619e-02 -6.08398402e+00] [-1.42685553e-01 -2.29805852e-03 9.89765402e-01 -6.30545304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:-6.09, Z:-6.31 [[ 9.62020756e-01 2.34401428e-01 1.39900089e-01 4.64904787e+01] [-2.32272255e-01 9.72137618e-01 -3.15919444e-02 -6.08853601e+00] [-1.43407336e-01 -2.10280292e-03 9.89661515e-01 -6.30978011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:-6.09, Z:-6.31 [[ 9.62425675e-01 2.32579503e-01 1.40155610e-01 4.65178500e+01] [-2.30423991e-01 9.72575648e-01 -3.16447956e-02 -6.09274786e+00] [-1.43671864e-01 -1.83945134e-03 9.89623672e-01 -6.31418426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:-6.09, Z:-6.32 [[ 9.63271353e-01 2.30124573e-01 1.38387075e-01 4.65500834e+01] [-2.25586309e-01 9.73047553e-01 -4.78463950e-02 -6.08878696e+00] [-1.45667836e-01 1.48708321e-02 9.89221785e-01 -6.32437232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:-6.12, Z:-6.33 [[ 9.64040631e-01 2.21850105e-01 1.46315387e-01 4.65789096e+01] [-2.22160876e-01 9.74903341e-01 -1.44229400e-02 -6.11751111e+00] [-1.45843090e-01 -1.86012543e-02 9.89132846e-01 -6.33187425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:-6.11, Z:-6.33 [[ 9.65220159e-01 2.21064335e-01 1.39572935e-01 4.66102838e+01] [-2.18408536e-01 9.75255799e-01 -3.42613188e-02 -6.11013897e+00] [-1.43693270e-01 2.58579516e-03 9.89618895e-01 -6.32828500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:-6.11, Z:-6.34 [[ 9.65534071e-01 2.20559552e-01 1.38193497e-01 4.66415591e+01] [-2.16089940e-01 9.75253998e-01 -4.67415990e-02 -6.10711932e+00] [-1.45083067e-01 1.52683817e-02 9.89301663e-01 -6.33651972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:-6.13, Z:-6.34 [[ 9.65947285e-01 2.14878286e-01 1.44128989e-01 4.66701403e+01] [-2.14818624e-01 9.76520212e-01 -1.61627644e-02 -6.13293325e+00] [-1.44217898e-01 -1.53492129e-02 9.89426905e-01 -6.33975091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:-6.12, Z:-6.35 [[ 9.66401706e-01 2.16612974e-01 1.38371101e-01 4.67028606e+01] [-2.12102818e-01 9.76129547e-01 -4.67279552e-02 -6.11976120e+00] [-1.45190002e-01 1.58090751e-02 9.89277482e-01 -6.34583847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:-6.14, Z:-6.35 [[ 9.66677113e-01 2.12853900e-01 1.42227201e-01 4.67305980e+01] [-2.10959020e-01 9.77080832e-01 -2.84489138e-02 -6.13776874e+00] [-1.45022934e-01 -2.50319698e-03 9.89425127e-01 -6.35333123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345871560000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.76, Y:-6.14, Z:-6.36 [[ 9.66852002e-01 2.12976195e-01 1.40848664e-01 4.67625007e+01] [-2.10343325e-01 9.77053485e-01 -3.34988568e-02 -6.14227815e+00] [-1.44751137e-01 2.76186042e-03 9.89464239e-01 -6.35733561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:-6.16, Z:-6.36 [[ 9.67135269e-01 2.08032711e-01 1.46190844e-01 4.67908989e+01] [-2.07363079e-01 9.78060072e-01 -1.99762211e-02 -6.15720456e+00] [-1.47139134e-01 -1.09948755e-02 9.89054694e-01 -6.36377696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:-6.15, Z:-6.36 [[ 9.67624441e-01 2.09830797e-01 1.40263956e-01 4.68240279e+01] [-2.06432976e-01 9.77702362e-01 -3.85164672e-02 -6.15295656e+00] [-1.45218342e-01 8.31436907e-03 9.89364697e-01 -6.36331542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:-6.17, Z:-6.37 [[ 9.67729911e-01 2.06547734e-01 1.44349763e-01 4.68563599e+01] [-2.05601274e-01 9.78397248e-01 -2.16088453e-02 -6.17340866e+00] [-1.45694669e-01 -8.76696921e-03 9.89290758e-01 -6.36737635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:-6.18, Z:-6.37 [[ 9.67941918e-01 2.07107674e-01 1.42108606e-01 4.68901466e+01] [-2.04573402e-01 9.78315520e-01 -3.23800248e-02 -6.17521746e+00] [-1.45733206e-01 2.27034231e-03 9.89321322e-01 -6.37092238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:-6.19, Z:-6.38 [[ 9.68608157e-01 2.04911728e-01 1.40745946e-01 4.69199135e+01] [-2.02399028e-01 9.78776997e-01 -3.20970977e-02 -6.18585914e+00] [-1.44335966e-01 2.60266797e-03 9.89525318e-01 -6.37699626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:-6.20, Z:-6.38 [[ 9.68831943e-01 2.04308462e-01 1.40081111e-01 4.69514913e+01] [-2.01809596e-01 9.78902822e-01 -3.19711026e-02 -6.19583164e+00] [-1.43657762e-01 2.70491297e-03 9.89623732e-01 -6.38281662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:-6.20, Z:-6.39 [[ 9.68906680e-01 2.04163283e-01 1.39775532e-01 4.69832108e+01] [-2.01669945e-01 9.78932994e-01 -3.19284546e-02 -6.20491287e+00] [-1.43349498e-01 2.74716903e-03 9.89668315e-01 -6.38766566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:-6.21, Z:-6.39 [[ 9.68570271e-01 2.05748960e-01 1.39781956e-01 4.70151250e+01] [-2.03267864e-01 9.78601510e-01 -3.19571466e-02 -6.21405436e+00] [-1.43365983e-01 2.53956246e-03 9.89666482e-01 -6.39189106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:47.05, Y:-6.22, Z:-6.40 [[ 9.68284050e-01 2.07016274e-01 1.39893751e-01 4.70460681e+01] [-2.04540382e-01 9.78334602e-01 -3.20099657e-02 -6.22255813e+00] [-1.43489481e-01 2.38081787e-03 9.89648978e-01 -6.39839029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:-6.23, Z:-6.40 [[ 9.67350231e-01 2.11188387e-01 1.40117792e-01 4.70768062e+01] [-2.08744040e-01 9.77443734e-01 -3.20885034e-02 -6.23192234e+00] [-1.43733977e-01 1.79206719e-03 9.89614739e-01 -6.40172039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:-6.24, Z:-6.41 [[ 9.66631280e-01 2.12078895e-01 1.43688938e-01 4.71078797e+01] [-2.10647001e-01 9.77235171e-01 -2.52836102e-02 -6.24488399e+00] [-1.45780004e-01 -5.82771540e-03 9.89299868e-01 -6.40881215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:-6.24, Z:-6.41 [[ 9.66228522e-01 2.17408942e-01 1.38332189e-01 4.71393439e+01] [-2.13916399e-01 9.76040220e-01 -3.98153599e-02 -6.24451800e+00] [-1.43673995e-01 8.87921270e-03 9.89585238e-01 -6.41037692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:-6.26, Z:-6.42 [[ 9.64960395e-01 2.21972954e-01 1.39926569e-01 4.71689762e+01] [-2.19639470e-01 9.75052793e-01 -3.21022594e-02 -6.25871227e+00] [-1.43561625e-01 2.44011406e-04 9.89641349e-01 -6.41630256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:-6.27, Z:-6.42 [[ 9.64266464e-01 2.25157732e-01 1.39621567e-01 4.71996045e+01] [-2.22863647e-01 9.74322305e-01 -3.20599433e-02 -6.26622927e+00] [-1.43254952e-01 -2.02243576e-04 9.89685798e-01 -6.42112901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:-6.27, Z:-6.42 [[ 9.63983453e-01 2.27046936e-01 1.38512065e-01 4.72254404e+01] [-2.25837995e-01 9.73854372e-01 -2.45939657e-02 -6.27398952e+00] [-1.40474564e-01 -7.57311098e-03 9.90055324e-01 -6.42174615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.28, Z:-6.43 [[ 9.62664635e-01 2.32624094e-01 1.38429876e-01 4.72618743e+01] [-2.29624212e-01 9.72557221e-01 -3.74856476e-02 -6.27683810e+00] [-1.43351040e-01 4.29925606e-03 9.89662567e-01 -6.42961843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:-6.29, Z:-6.44 [[ 9.61051231e-01 2.38669305e-01 1.39346668e-01 4.72904988e+01] [-2.36515405e-01 9.71098539e-01 -3.20638639e-02 -6.28606553e+00] [-1.42972006e-01 -2.14261778e-03 9.89724414e-01 -6.43505640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.29, Z:-6.44 [[ 9.60401102e-01 2.41405487e-01 1.39115467e-01 4.73200745e+01] [-2.39287288e-01 9.70420997e-01 -3.20106642e-02 -6.29236920e+00] [-1.42728120e-01 -2.54548563e-03 9.89758660e-01 -6.44047487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:-6.30, Z:-6.45 [[ 9.59900168e-01 2.43741951e-01 1.38497396e-01 4.73482412e+01] [-2.41666748e-01 9.69835847e-01 -3.18686821e-02 -6.29797818e+00] [-1.42087475e-01 -2.87946207e-03 9.89849917e-01 -6.44558340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:-6.30, Z:-6.45 [[ 9.58951342e-01 2.46874086e-01 1.39518852e-01 4.73760396e+01] [-2.45127899e-01 9.69031464e-01 -2.98384766e-02 -6.30374914e+00] [-1.42564504e-01 -5.58631579e-03 9.89769749e-01 -6.45072544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.40, Y:-6.31, Z:-6.45 [[ 9.58715407e-01 2.48314065e-01 1.38581725e-01 4.74047540e+01] [-2.45964961e-01 9.68678580e-01 -3.41034725e-02 -6.30647400e+00] [-1.42709520e-01 -1.39072404e-03 9.89763638e-01 -6.45403801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.43, Y:-6.31, Z:-6.46 [[ 9.58524843e-01 2.49024693e-01 1.38624774e-01 4.74316429e+01] [-2.47003853e-01 9.68490113e-01 -3.18747060e-02 -6.31089484e+00] [-1.42194312e-01 -3.68815569e-03 9.89831892e-01 -6.45782739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:-6.33, Z:-6.46 [[ 9.58255823e-01 2.45213166e-01 1.47024760e-01 4.74529385e+01] [-2.46876586e-01 9.69020826e-01 -7.11266825e-03 -6.32807471e+00] [-1.44214175e-01 -2.94812152e-02 9.89107239e-01 -6.46249607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065871560000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.49, Y:-6.31, Z:-6.47 [[ 9.57737251e-01 2.53077199e-01 1.36716093e-01 4.74884908e+01] [-2.47687069e-01 9.67256012e-01 -5.53797980e-02 -6.30686694e+00] [-1.46254828e-01 1.91764869e-02 9.89061064e-01 -6.46797273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:-6.32, Z:-6.48 [[ 9.58078946e-01 2.49477055e-01 1.40875589e-01 4.75137208e+01] [-2.47389883e-01 9.68373311e-01 -3.24249465e-02 -6.32306456e+00] [-1.44509441e-01 -3.78553683e-03 9.89496181e-01 -6.47518027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.54, Y:-6.33, Z:-6.48 [[ 9.58234159e-01 2.49128319e-01 1.40436383e-01 4.75420717e+01] [-2.47051252e-01 9.68463316e-01 -3.23184713e-02 -6.32676304e+00] [-1.44058932e-01 -3.72632100e-03 9.89562094e-01 -6.47929514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:-6.33, Z:-6.48 [[ 9.58403547e-01 2.48483136e-01 1.40423549e-01 4.75691781e+01] [-2.46400585e-01 9.68629399e-01 -3.23085152e-02 -6.33017042e+00] [-1.44046499e-01 -3.63584886e-03 9.89564241e-01 -6.48386799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.60, Y:-6.33, Z:-6.49 [[ 9.58633166e-01 2.47668731e-01 1.40294879e-01 4.75975192e+01] [-2.45582628e-01 9.68838386e-01 -3.22700400e-02 -6.33442090e+00] [-1.43915344e-01 -3.51885441e-03 9.89583747e-01 -6.48799661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:-6.34, Z:-6.48 [[ 9.59608996e-01 2.44373083e-01 1.39400038e-01 4.76234691e+01] [-2.44214544e-01 9.69544575e-01 -1.85087699e-02 -6.34337689e+00] [-1.39677596e-01 -1.62823347e-02 9.90063157e-01 -6.48477653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:-6.33, Z:-6.49 [[ 9.59450854e-01 2.45855177e-01 1.37874186e-01 4.76563024e+01] [-2.42003431e-01 9.69263487e-01 -4.43016047e-02 -6.33315345e+00] [-1.44528193e-01 9.13918644e-03 9.89458477e-01 -6.49416618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:-6.34, Z:-6.50 [[ 9.59901164e-01 2.42333854e-01 1.40939912e-01 4.76823490e+01] [-2.40174224e-01 9.70189019e-01 -3.23976880e-02 -6.34414600e+00] [-1.44589412e-01 -2.75155557e-03 9.89487914e-01 -6.50091017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:-6.35, Z:-6.50 [[ 9.61531113e-01 2.36079048e-01 1.40444302e-01 4.77081205e+01] [-2.36121960e-01 9.71581619e-01 -1.66005457e-02 -6.35422838e+00] [-1.40372143e-01 -1.72000426e-02 9.89949403e-01 -6.49723897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.74, Y:-6.34, Z:-6.51 [[ 9.61499564e-01 2.37312358e-01 1.38569239e-01 4.77419738e+01] [-2.33024526e-01 9.71352442e-01 -4.66262096e-02 -6.34196703e+00] [-1.45664545e-01 1.25410489e-02 9.89254549e-01 -6.50667930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:47.77, Y:-6.36, Z:-6.51 [[ 9.63247108e-01 2.28087819e-01 1.41883602e-01 4.77653992e+01] [-2.28337306e-01 9.73470481e-01 -1.47410259e-02 -6.36155975e+00] [-1.41481747e-01 -1.81980689e-02 9.89773583e-01 -6.50688562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:-6.35, Z:-6.51 [[ 9.63280187e-01 2.29981389e-01 1.38563492e-01 4.78011556e+01] [-2.25286126e-01 9.73065605e-01 -4.88824140e-02 -6.34692436e+00] [-1.46073413e-01 1.58710287e-02 9.89146434e-01 -6.51439152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:-6.37, Z:-6.52 [[ 9.64459855e-01 2.23194106e-01 1.41426939e-01 4.78247415e+01] [-2.23163574e-01 9.74645020e-01 -1.62820178e-02 -6.37008660e+00] [-1.41475112e-01 -1.58579885e-02 9.89814789e-01 -6.51522528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:-6.37, Z:-6.52 [[ 9.64401604e-01 2.25433818e-01 1.38235812e-01 4.78550974e+01] [-2.23298268e-01 9.74257973e-01 -3.09723435e-02 -6.36804813e+00] [-1.41659555e-01 -9.98039613e-04 9.89914933e-01 -6.51716127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:-6.38, Z:-6.52 [[ 9.65650783e-01 2.20197627e-01 1.37954956e-01 4.78850915e+01] [-2.18229408e-01 9.75453813e-01 -2.94242117e-02 -6.37661158e+00] [-1.41047830e-01 -1.69231535e-03 9.90001336e-01 -6.52144819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:-6.38, Z:-6.53 [[ 9.66347988e-01 2.16218352e-01 1.39359930e-01 4.79141477e+01] [-2.13947496e-01 9.76344956e-01 -3.12569391e-02 -6.37894730e+00] [-1.42821689e-01 3.89372191e-04 9.89748359e-01 -6.52782025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.95, Y:-6.38, Z:-6.54 [[ 9.66412059e-01 2.15468218e-01 1.40075619e-01 4.79480537e+01] [-2.10469080e-01 9.76333711e-01 -4.97519011e-02 -6.37573277e+00] [-1.47480503e-01 1.85992505e-02 9.88890069e-01 -6.54123572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.57587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:47.98, Y:-6.39, Z:-6.55 [[ 9.67004829e-01 2.10006204e-01 1.44218774e-01 4.79768258e+01] [-2.07380811e-01 9.77697642e-01 -3.31740759e-02 -6.39265868e+00] [-1.47969117e-01 2.17128533e-03 9.88989598e-01 -6.55017106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:-6.41, Z:-6.55 [[ 9.68579855e-01 2.02631064e-01 1.44200265e-01 4.80051316e+01] [-2.02659774e-01 9.79139681e-01 -1.46458830e-02 -6.41081374e+00] [-1.44159912e-01 -1.50378860e-02 9.89440135e-01 -6.54581174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635871560000005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:48.04, Y:-6.41, Z:-6.55 [[ 9.69242872e-01 2.02587321e-01 1.39737726e-01 4.80385450e+01] [-2.00445833e-01 9.79264090e-01 -2.93821429e-02 -6.41085998e+00] [-1.42792587e-01 4.68587614e-04 9.89752523e-01 -6.54882053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:-6.42, Z:-6.55 [[ 9.69849860e-01 1.99468708e-01 1.40012442e-01 4.80698100e+01] [-1.97107359e-01 9.79901827e-01 -3.06773184e-02 -6.41986483e+00] [-1.43317613e-01 2.15491029e-03 9.89674400e-01 -6.55335859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:-6.43, Z:-6.56 [[ 9.70209023e-01 1.98319655e-01 1.39153747e-01 4.81015933e+01] [-1.95616786e-01 9.80125765e-01 -3.29781493e-02 -6.42679219e+00] [-1.42928388e-01 4.77488919e-03 9.89721514e-01 -6.55776434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:48.13, Y:-6.42, Z:-6.57 [[ 9.70214478e-01 1.99189094e-01 1.37867948e-01 4.81334964e+01] [-1.93622394e-01 9.79653647e-01 -5.28119308e-02 -6.42387598e+00] [-1.45582399e-01 2.45445778e-02 9.89041621e-01 -6.57194465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:-6.46, Z:-6.57 [[ 9.70932756e-01 1.91845323e-01 1.43125664e-01 4.81575473e+01] [-1.92236106e-01 9.81284511e-01 -1.12244846e-02 -6.45845465e+00] [-1.42600362e-01 -1.66157005e-02 9.89640872e-01 -6.57179571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785871560000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.19, Y:-6.44, Z:-6.58 [[ 9.70813681e-01 1.97336371e-01 1.36305366e-01 4.81934716e+01] [-1.91774626e-01 9.80010787e-01 -5.29277856e-02 -6.44369038e+00] [-1.44025306e-01 2.52431077e-02 9.89251988e-01 -6.58063629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.48, Z:-6.58 [[ 9.71080862e-01 1.91529826e-01 1.42542220e-01 4.82180774e+01] [-1.91872503e-01 9.81352860e-01 -1.14676684e-02 -6.47657076e+00] [-1.42080616e-01 -1.62138994e-02 9.89722288e-01 -6.58125408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.25, Y:-6.48, Z:-6.58 [[ 9.70741911e-01 1.95308699e-01 1.39694862e-01 4.82504414e+01] [-1.92953422e-01 9.80738628e-01 -3.03433632e-02 -6.47837702e+00] [-1.42930470e-01 2.50097269e-03 9.89729572e-01 -6.58357960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.49, Z:-6.59 [[ 9.70711843e-01 1.94813459e-01 1.40592436e-01 4.82837588e+01] [-1.92995499e-01 9.80839414e-01 -2.65853785e-02 -6.49237537e+00] [-1.43077792e-01 -1.32696547e-03 9.89710556e-01 -6.58655309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.31, Y:-6.50, Z:-6.59 [[ 9.70480921e-01 1.98168937e-01 1.37462189e-01 4.83131112e+01] [-1.95178692e-01 9.80141624e-01 -3.50381993e-02 -6.49680384e+00] [-1.41675896e-01 7.17421374e-03 9.89887100e-01 -6.58944690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:-6.51, Z:-6.60 [[ 9.69853026e-01 1.99134078e-01 1.40466105e-01 4.83426104e+01] [-1.96651432e-01 9.79967936e-01 -3.14810819e-02 -6.51014370e+00] [-1.43921235e-01 2.90916184e-03 9.89584870e-01 -6.59874267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965871560000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:48.37, Y:-6.52, Z:-6.60 [[ 9.69402980e-01 2.02409100e-01 1.38882749e-01 4.83721435e+01] [-1.99131194e-01 9.79264543e-01 -3.72521504e-02 -6.51647511e+00] [-1.43543126e-01 8.45645787e-03 9.89607932e-01 -6.60396442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:-6.52, Z:-6.61 [[ 9.68493560e-01 2.08227927e-01 1.36606571e-01 4.84042843e+01] [-2.02539822e-01 9.77759078e-01 -5.44500343e-02 -6.51819596e+00] [-1.44906332e-01 2.50662369e-02 9.89127817e-01 -6.61421530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.43, Y:-6.56, Z:-6.62 [[ 9.68177730e-01 2.03535347e-01 1.45620212e-01 4.84277933e+01] [-2.04543407e-01 9.78823338e-01 -8.17727753e-03 -6.55507512e+00] [-1.44200827e-01 -2.18685963e-02 9.89306770e-01 -6.61693304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.46, Y:-6.55, Z:-6.62 [[ 9.67645300e-01 2.10094886e-01 1.39723702e-01 4.84618590e+01] [-2.07373933e-01 9.77673421e-01 -3.39224760e-02 -6.55063613e+00] [-1.43731088e-01 3.84987078e-03 9.89609293e-01 -6.61840321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.49, Y:-6.56, Z:-6.62 [[ 9.66574969e-01 2.14336818e-01 1.40686028e-01 4.84911340e+01] [-2.11807130e-01 9.76757772e-01 -3.28936916e-02 -6.56413729e+00] [-1.44466501e-01 1.99591505e-03 9.89507679e-01 -6.62411831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:-6.57, Z:-6.63 [[ 9.65962668e-01 2.15954487e-01 1.42407101e-01 4.85208072e+01] [-2.13866587e-01 9.76402304e-01 -2.99937315e-02 -6.57444776e+00] [-1.45523903e-01 -1.48329579e-03 9.89353624e-01 -6.62901555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:-6.58, Z:-6.63 [[ 9.65417355e-01 2.19347801e-01 1.40910868e-01 4.85518932e+01] [-2.16530309e-01 9.75640496e-01 -3.52171502e-02 -6.58015321e+00] [-1.45203153e-01 3.48777435e-03 9.89395714e-01 -6.63316305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175871560000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.58, Y:-6.59, Z:-6.64 [[ 9.64395381e-01 2.23372595e-01 1.41584718e-01 4.85823395e+01] [-2.21058486e-01 9.74733065e-01 -3.20717598e-02 -6.59178401e+00] [-1.45171258e-01 -3.68646418e-04 9.89406474e-01 -6.64006340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.62, Y:-6.59, Z:-6.65 [[ 9.63836446e-01 2.28908752e-01 1.36455447e-01 4.86150661e+01] [-2.23007171e-01 9.73132496e-01 -5.72795444e-02 -6.58586079e+00] [-1.45901018e-01 2.47775694e-02 9.88988860e-01 -6.64936502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.64, Y:-6.61, Z:-6.66 [[ 9.63429632e-01 2.27320735e-01 1.41875393e-01 4.86429273e+01] [-2.24899081e-01 9.73819944e-01 -3.30926068e-02 -6.60961499e+00] [-1.45683723e-01 -2.52475353e-05 9.89331215e-01 -6.65782775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:48.67, Y:-6.62, Z:-6.66 [[ 9.62633079e-01 2.30882164e-01 1.41530852e-01 4.86737051e+01] [-2.28506389e-01 9.72981573e-01 -3.30407246e-02 -6.61991755e+00] [-1.45335425e-01 -5.34609616e-04 9.89382296e-01 -6.66407972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:-6.63, Z:-6.67 [[ 9.62189179e-01 2.32883011e-01 1.41270971e-01 4.87046817e+01] [-2.30533091e-01 9.72504423e-01 -3.30097016e-02 -6.62869474e+00] [-1.45074043e-01 -8.06055842e-04 9.89420473e-01 -6.66714604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:-6.66, Z:-6.67 [[ 9.61681991e-01 2.29598991e-01 1.49840088e-01 4.87331610e+01] [-2.31422288e-01 9.72838445e-01 -5.39294347e-03 -6.65505899e+00] [-1.47008413e-01 -2.94900395e-02 9.88695537e-01 -6.67052141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:-6.63, Z:-6.67 [[ 9.61072930e-01 2.41172373e-01 1.34813611e-01 4.87689639e+01] [-2.34738516e-01 9.70080546e-01 -6.19803424e-02 -6.62940012e+00] [-1.45728008e-01 2.79216822e-02 9.88930598e-01 -6.67279095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:-6.66, Z:-6.68 [[ 9.60692947e-01 2.35466780e-01 1.47052569e-01 4.87912663e+01] [-2.34652822e-01 9.71804501e-01 -2.31098687e-02 -6.65899992e+00] [-1.48347954e-01 -1.23048124e-02 9.88858673e-01 -6.68454120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:-6.67, Z:-6.68 [[ 9.60739501e-01 2.36490341e-01 1.45092834e-01 4.88222094e+01] [-2.35840120e-01 9.71544687e-01 -2.19171026e-02 -6.66879766e+00] [-1.46147355e-01 -1.31620854e-02 9.89175268e-01 -6.68382287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:-6.66, Z:-6.69 [[ 9.60832951e-01 2.40988573e-01 1.36837672e-01 4.88555882e+01] [-2.35463722e-01 9.70299162e-01 -5.54650463e-02 -6.65810206e+00] [-1.46139921e-01 2.10723365e-02 9.89039474e-01 -6.69014270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:-6.69, Z:-6.70 [[ 9.60706647e-01 2.35548783e-01 1.46831569e-01 4.88815468e+01] [-2.34506121e-01 9.71802762e-01 -2.46225607e-02 -6.68507348e+00] [-1.48491139e-01 -1.07778440e-02 9.88855004e-01 -6.69999923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.92, Y:-6.68, Z:-6.70 [[ 9.61130657e-01 2.38128879e-01 1.39722933e-01 4.89150563e+01] [-2.34435816e-01 9.71199340e-01 -4.25639534e-02 -6.68227596e+00] [-1.45834527e-01 8.15346076e-03 9.89275397e-01 -6.70061001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:-6.71, Z:-6.70 [[ 9.61337563e-01 2.31771916e-01 1.48700599e-01 4.89418960e+01] [-2.32803119e-01 9.72465268e-01 -1.06775287e-02 -6.71114880e+00] [-1.47080920e-01 -2.43532540e-02 9.88824616e-01 -6.70372852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.98, Y:-6.69, Z:-6.71 [[ 9.61466593e-01 2.37810250e-01 1.37943012e-01 4.89775308e+01] [-2.32062771e-01 9.71053409e-01 -5.65875128e-02 -6.69281360e+00] [-1.47407123e-01 2.23955654e-02 9.88822319e-01 -6.70872667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:-6.73, Z:-6.71 [[ 9.61869191e-01 2.29836519e-01 1.48266089e-01 4.90019371e+01] [-2.30791064e-01 9.72941476e-01 -1.09712739e-02 -6.72916266e+00] [-1.46775827e-01 -2.36655581e-02 9.88886646e-01 -6.71300902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:-6.73, Z:-6.72 [[ 9.62272221e-01 2.31748849e-01 1.42564522e-01 4.90351310e+01] [-2.29128692e-01 9.72775339e-01 -3.47589293e-02 -6.72697835e+00] [-1.46738593e-01 7.81929587e-04 9.89174997e-01 -6.71524294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:-6.74, Z:-6.72 [[ 9.62454128e-01 2.30223624e-01 1.43802416e-01 4.90654834e+01] [-2.27918126e-01 9.73136650e-01 -3.25328667e-02 -6.73796346e+00] [-1.47429236e-01 -1.46378542e-03 9.89071523e-01 -6.72127861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:-6.73, Z:-6.73 [[ 9.62756099e-01 2.32905751e-01 1.37315716e-01 4.90972852e+01] [-2.27203913e-01 9.72232833e-01 -5.60508706e-02 -6.73281035e+00] [-1.46557418e-01 2.27646496e-02 9.88940187e-01 -6.72701568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:-6.77, Z:-6.73 [[ 9.63094226e-01 2.24470408e-01 1.48534669e-01 4.91218686e+01] [-2.25314681e-01 9.74220053e-01 -1.13394750e-02 -6.77037792e+00] [-1.47250829e-01 -2.25460586e-02 9.88842186e-01 -6.73261387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:-6.75, Z:-6.74 [[ 9.63248268e-01 2.30920549e-01 1.37216890e-01 4.91567434e+01] [-2.25214014e-01 9.72700573e-01 -5.59664458e-02 -6.75347387e+00] [-1.46394750e-01 2.30064154e-02 9.88958686e-01 -6.73696093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775871560000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.18, Y:-6.78, Z:-6.74 [[ 9.63502146e-01 2.26843507e-01 1.42146540e-01 4.91836731e+01] [-2.24366316e-01 9.73931168e-01 -3.34340523e-02 -6.77856682e+00] [-1.46025243e-01 3.20885732e-04 9.89280812e-01 -6.74323044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.21, Y:-6.79, Z:-6.75 [[ 9.63403551e-01 2.27275839e-01 1.42124211e-01 4.92139192e+01] [-2.24799757e-01 9.73830382e-01 -3.34582886e-02 -6.78732988e+00] [-1.46009135e-01 2.84345797e-04 9.89283201e-01 -6.74818706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:-6.80, Z:-6.75 [[ 9.63118502e-01 2.28135366e-01 1.42677977e-01 4.92445909e+01] [-2.25645130e-01 9.73629407e-01 -3.36162657e-02 -6.79648932e+00] [-1.46584533e-01 1.81856774e-04 9.89198131e-01 -6.75386434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.28, Y:-6.81, Z:-6.76 [[ 9.62599241e-01 2.30996084e-01 1.41575106e-01 4.92757840e+01] [-2.28571390e-01 9.72954654e-01 -3.33820584e-02 -6.80699838e+00] [-1.45457283e-01 -2.26474578e-04 9.89364507e-01 -6.75787919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:49.31, Y:-6.82, Z:-6.77 [[ 9.61951672e-01 2.33272716e-01 1.42242118e-01 4.93070393e+01] [-2.30845482e-01 9.72411201e-01 -3.35681477e-02 -6.81582127e+00] [-1.46148362e-01 -5.45014460e-04 9.89262533e-01 -6.76560224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:-6.82, Z:-6.77 [[ 9.61475596e-01 2.35964275e-01 1.41016096e-01 4.93383694e+01] [-2.33603257e-01 9.71761299e-01 -3.33091018e-02 -6.82415098e+00] [-1.44893743e-01 -9.15930812e-04 9.89446797e-01 -6.76792084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:-6.83, Z:-6.77 [[ 9.60205878e-01 2.41150288e-01 1.40894321e-01 4.93697729e+01] [-2.38846264e-01 9.70486331e-01 -3.32978053e-02 -6.83311742e+00] [-1.44765788e-01 -1.67933388e-03 9.89464525e-01 -6.77399160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.40, Y:-6.84, Z:-6.78 [[ 9.59679679e-01 2.43682989e-01 1.40119648e-01 4.94013309e+01] [-2.41427125e-01 9.69852830e-01 -3.31426028e-02 -6.84014766e+00] [-1.43971725e-01 -2.02240142e-03 9.89579735e-01 -6.77864320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:-6.85, Z:-6.78 [[ 9.58609165e-01 2.47815599e-01 1.40199493e-01 4.94332306e+01] [-2.45596957e-01 9.68803686e-01 -3.31896491e-02 -6.84632618e+00] [-1.44050698e-01 -2.61666697e-03 9.89566849e-01 -6.78450417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:-6.85, Z:-6.79 [[ 9.58376446e-01 2.49102614e-01 1.39507976e-01 4.94647758e+01] [-2.46915441e-01 9.68473139e-01 -3.30536508e-02 -6.85331381e+00] [-1.43343479e-01 -2.76883320e-03 9.89669127e-01 -6.78916360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.07587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.50, Y:-6.86, Z:-6.80 [[ 9.58102569e-01 2.49987554e-01 1.39805899e-01 4.94957854e+01] [-2.47795999e-01 9.68244772e-01 -3.31542481e-02 -6.86073113e+00] [-1.43654480e-01 -2.87817209e-03 9.89623720e-01 -6.79501138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:-6.87, Z:-6.80 [[ 9.58237810e-01 2.49914977e-01 1.39006485e-01 4.95278768e+01] [-2.47745334e-01 9.68263638e-01 -3.29814653e-02 -6.86818313e+00] [-1.42837487e-01 -2.83412117e-03 9.89742098e-01 -6.79998018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:-6.88, Z:-6.81 [[ 9.58467526e-01 2.49252245e-01 1.38612117e-01 4.95596689e+01] [-2.47084070e-01 9.68434833e-01 -3.29155866e-02 -6.87614560e+00] [-1.42441086e-01 -2.70032504e-03 9.89799599e-01 -6.80571677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:-6.88, Z:-6.81 [[ 9.58755081e-01 2.48471436e-01 1.38024055e-01 4.95907873e+01] [-2.46309651e-01 9.68635878e-01 -3.28038393e-02 -6.88446262e+00] [-1.41845869e-01 -2.54580913e-03 9.89885482e-01 -6.81110701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:-6.89, Z:-6.82 [[ 9.59077285e-01 2.47390150e-01 1.37727539e-01 4.96221664e+01] [-2.45222582e-01 9.68913090e-01 -3.27613986e-02 -6.89253927e+00] [-1.41550862e-01 -2.35318947e-03 9.89928187e-01 -6.81630989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:-6.90, Z:-6.82 [[ 9.59626320e-01 2.45087997e-01 1.38018834e-01 4.96531878e+01] [-2.42883349e-01 9.69498796e-01 -3.28597433e-02 -6.89988187e+00] [-1.41862622e-01 -1.98940216e-03 9.89884356e-01 -6.82064066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:-6.91, Z:-6.83 [[ 9.59767720e-01 2.44096787e-01 1.38790062e-01 4.96835183e+01] [-2.41853115e-01 9.69749153e-01 -3.30703772e-02 -6.90749131e+00] [-1.42663918e-01 -1.82692824e-03 9.89769503e-01 -6.82609644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285871560000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:49.71, Y:-6.92, Z:-6.83 [[ 9.60282576e-01 2.41482367e-01 1.39798574e-01 4.97149049e+01] [-2.39174313e-01 9.70404165e-01 -3.33377483e-02 -6.91598912e+00] [-1.43711597e-01 -1.42256906e-03 9.89618590e-01 -6.83292779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.75, Y:-6.92, Z:-6.84 [[ 9.60532647e-01 2.40551147e-01 1.39686004e-01 4.97472460e+01] [-2.38233020e-01 9.70635653e-01 -3.33385309e-02 -6.92375579e+00] [-1.43603838e-01 -1.25507134e-03 9.89634459e-01 -6.83547203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345871560000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.78, Y:-6.93, Z:-6.84 [[ 9.60745011e-01 2.39631843e-01 1.39805596e-01 4.97790912e+01] [-2.37295999e-01 9.70863218e-01 -3.33949075e-02 -6.93208755e+00] [-1.43734594e-01 -1.09131782e-03 9.89615671e-01 -6.84075880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.81, Y:-6.94, Z:-6.85 [[ 9.60724661e-01 2.39717419e-01 1.39798727e-01 4.98112493e+01] [-2.37378296e-01 9.70842111e-01 -3.34236399e-02 -6.93990180e+00] [-1.43734720e-01 -1.07426835e-03 9.89615671e-01 -6.84605248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40587156 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:49.84, Y:-6.95, Z:-6.85 [[ 9.61191254e-01 2.37589276e-01 1.40223785e-01 4.98413750e+01] [-2.35211647e-01 9.71365419e-01 -3.35365989e-02 -6.94902776e+00] [-1.44176472e-01 -7.47181859e-04 9.89551710e-01 -6.85113817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43587156 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:49.87, Y:-6.96, Z:-6.86 [[ 9.61350287e-01 2.36838241e-01 1.40403961e-01 4.98732219e+01] [-2.34442574e-01 9.71548906e-01 -3.36065863e-02 -6.95778106e+00] [-1.44368640e-01 -6.08964741e-04 9.89523787e-01 -6.85616834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465871560000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:49.90, Y:-6.97, Z:-6.86 [[ 9.61656054e-01 2.35294264e-01 1.40905085e-01 4.99046725e+01] [-2.32860727e-01 9.71924116e-01 -3.37549282e-02 -6.96628583e+00] [-1.44891391e-01 -3.50629540e-04 9.89447503e-01 -6.86082824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495871560000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.94, Y:-6.97, Z:-6.87 [[ 9.61776970e-01 2.34860076e-01 1.40804136e-01 4.99364767e+01] [-2.32421279e-01 9.72029155e-01 -3.37590056e-02 -6.97473269e+00] [-1.44794368e-01 -2.57243350e-04 9.89461735e-01 -6.86598702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:-6.98, Z:-6.87 [[ 9.61782916e-01 2.34475387e-01 1.41403381e-01 4.99672084e+01] [-2.32007244e-01 9.72122041e-01 -3.39319219e-02 -6.98369755e+00] [-1.45417544e-01 -1.71465919e-04 9.89370360e-01 -6.87132014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.00, Y:-6.99, Z:-6.88 [[ 9.62011452e-01 2.33527669e-01 1.41417090e-01 4.99988674e+01] [-2.31044900e-01 9.72350157e-01 -3.39621276e-02 -6.99290468e+00] [-1.45438026e-01 -1.74171270e-06 9.89367364e-01 -6.87596199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.03, Y:-7.00, Z:-6.88 [[ 9.61972155e-01 2.33534666e-01 1.41672624e-01 5.00302496e+01] [-2.31038723e-01 9.72348476e-01 -3.40521560e-02 -7.00062001e+00] [-1.45707519e-01 2.53639300e-05 9.89327710e-01 -6.88112485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:-7.01, Z:-6.89 [[ 9.61894226e-01 2.33737980e-01 1.41866328e-01 5.00613217e+01] [-2.31232982e-01 9.72299623e-01 -3.41284636e-02 -7.00820352e+00] [-1.45913695e-01 2.37979794e-05 9.89297323e-01 -6.88612059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.09, Y:-7.02, Z:-6.89 [[ 9.61616039e-01 2.34401075e-01 1.42655984e-01 5.00930591e+01] [-2.31871099e-01 9.72139976e-01 -3.43461786e-02 -7.01769653e+00] [-1.46732366e-01 -4.99635502e-05 9.89176228e-01 -6.89141703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:-7.03, Z:-6.90 [[ 9.61450779e-01 2.34900529e-01 1.42948032e-01 5.01248641e+01] [-2.32361341e-01 9.72019409e-01 -3.44452509e-02 -7.02607851e+00] [-1.47039470e-01 -9.81832719e-05 9.89130621e-01 -6.89679793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.16, Y:-7.03, Z:-6.90 [[ 9.61420411e-01 2.35295010e-01 1.42502811e-01 5.01562885e+01] [-2.32771791e-01 9.71923990e-01 -3.43664366e-02 -7.03397774e+00] [-1.46588151e-01 -1.30040741e-04 9.89197603e-01 -6.90169362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:-7.04, Z:-6.91 [[ 9.61488305e-01 2.35092078e-01 1.42379610e-01 5.01870261e+01] [-2.32566628e-01 9.71973101e-01 -3.43664617e-02 -7.04199972e+00] [-1.46468434e-01 -6.97947710e-05 9.89215342e-01 -6.90800374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:-7.05, Z:-6.91 [[ 9.61597558e-01 2.34760949e-01 1.42188023e-01 5.02180359e+01] [-2.32234673e-01 9.72053135e-01 -3.43476330e-02 -7.05112671e+00] [-1.46277797e-01 7.61094939e-06 9.89243552e-01 -6.91340809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:50.25, Y:-7.06, Z:-6.92 [[ 9.61717343e-01 2.34086358e-01 1.42489751e-01 5.02480796e+01] [-2.31537653e-01 9.72215798e-01 -3.44493466e-02 -7.06109757e+00] [-1.46594909e-01 1.38791596e-04 9.89196600e-01 -6.92220820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.28, Y:-7.07, Z:-6.93 [[ 9.62136499e-01 2.32870307e-01 1.41650196e-01 5.02792438e+01] [-2.30334388e-01 9.72507736e-01 -3.42749513e-02 -7.07233869e+00] [-1.45737530e-01 3.50270499e-04 9.89323228e-01 -6.92516893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855871560000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:50.31, Y:-7.08, Z:-6.93 [[ 9.62267287e-01 2.32190052e-01 1.41878286e-01 5.03092783e+01] [-2.29634129e-01 9.72670317e-01 -3.43601635e-02 -7.08098820e+00] [-1.45978886e-01 4.83564643e-04 9.89287588e-01 -6.93284028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.34, Y:-7.09, Z:-6.94 [[ 9.62530377e-01 2.31345746e-01 1.41472324e-01 5.03413784e+01] [-2.28792927e-01 9.72871396e-01 -3.42789071e-02 -7.09082671e+00] [-1.45564657e-01 6.26622208e-04 9.89348542e-01 -6.93502056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:-7.10, Z:-6.94 [[ 9.62639687e-01 2.31235469e-01 1.40907737e-01 5.03725750e+01] [-2.28697734e-01 9.72897585e-01 -3.41706873e-02 -7.10043928e+00] [-1.44990272e-01 6.68779740e-04 9.89432855e-01 -6.93987748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:50.40, Y:-7.11, Z:-6.95 [[ 9.62569169e-01 2.31519191e-01 1.40923597e-01 5.04036693e+01] [-2.28979692e-01 9.72830117e-01 -3.42032841e-02 -7.11084748e+00] [-1.45013436e-01 6.54384980e-04 9.89429470e-01 -6.94711810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:50.43, Y:-7.12, Z:-6.95 [[ 9.62145566e-01 2.33002010e-01 1.41371757e-01 5.04342787e+01] [-2.30457933e-01 9.72476144e-01 -3.43407929e-02 -7.12244621e+00] [-1.45482135e-01 4.60598680e-04 9.89360772e-01 -6.95243572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.46, Y:-7.13, Z:-6.96 [[ 9.61766425e-01 2.34459270e-01 1.41542201e-01 5.04647873e+01] [-2.31920375e-01 9.72125906e-01 -3.44116530e-02 -7.13042080e+00] [-1.45664972e-01 2.69452112e-04 9.89333939e-01 -6.95577826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035871560000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.50, Y:-7.14, Z:-6.96 [[ 9.61209993e-01 2.36638680e-01 1.41695043e-01 5.04965347e+01] [-2.34113790e-01 9.71597722e-01 -3.44760723e-02 -7.13823027e+00] [-1.45828954e-01 -3.40184092e-05 9.89309818e-01 -6.95966325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065871560000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.53, Y:-7.15, Z:-6.97 [[ 9.59981249e-01 2.41281205e-01 1.42194870e-01 5.05267782e+01] [-2.38784660e-01 9.70454982e-01 -3.46267855e-02 -7.14597281e+00] [-1.46348512e-01 -7.12888827e-04 9.89232836e-01 -6.96519629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095871560000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.56, Y:-7.15, Z:-6.97 [[ 9.59394132e-01 2.43651743e-01 1.42115190e-01 5.05582104e+01] [-2.41179911e-01 9.69862222e-01 -3.46340887e-02 -7.15473428e+00] [-1.46270810e-01 -1.04758742e-03 9.89244031e-01 -6.97059269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:-7.16, Z:-6.98 [[ 9.58533103e-01 2.47057704e-01 1.42044999e-01 5.05879807e+01] [-2.44621137e-01 9.68999550e-01 -3.46463906e-02 -7.16380066e+00] [-1.46201197e-01 -1.53749670e-03 9.89253681e-01 -6.97640999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.62, Y:-7.17, Z:-6.98 [[ 9.58101844e-01 2.49077478e-01 1.41425837e-01 5.06192786e+01] [-2.46680105e-01 9.68481869e-01 -3.45223929e-02 -7.17212079e+00] [-1.45567110e-01 -1.81097201e-03 9.89346722e-01 -6.98171310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18587156 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:50.65, Y:-7.18, Z:-6.99 [[ 9.57791786e-01 2.50519994e-01 1.40977400e-01 5.06505062e+01] [-2.48149354e-01 9.68109367e-01 -3.44405563e-02 -7.17962772e+00] [-1.45109589e-01 -1.99656870e-03 9.89413574e-01 -6.98706320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:-7.19, Z:-6.99 [[ 9.57390305e-01 2.52113371e-01 1.40863946e-01 5.06821679e+01] [-2.49759662e-01 9.67695183e-01 -3.44404365e-02 -7.18729544e+00] [-1.44996256e-01 -2.20919146e-03 9.89429737e-01 -6.99273274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.71, Y:-7.19, Z:-7.00 [[ 9.56885140e-01 2.53854517e-01 1.41169095e-01 5.07134686e+01] [-2.51505231e-01 9.67239307e-01 -3.45433174e-02 -7.19406738e+00] [-1.45313275e-01 -2.45077885e-03 9.89382659e-01 -6.99859623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:-7.20, Z:-7.00 [[ 9.56743371e-01 2.54513777e-01 1.40942751e-01 5.07446399e+01] [-2.52175009e-01 9.67065867e-01 -3.45162685e-02 -7.20209698e+00] [-1.45085790e-01 -2.51902855e-03 9.89415872e-01 -7.00378180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.77, Y:-7.21, Z:-7.01 [[ 9.56691269e-01 2.54585589e-01 1.41166549e-01 5.07749736e+01] [-2.52235903e-01 9.67046999e-01 -3.45998640e-02 -7.21076383e+00] [-1.45323315e-01 -2.50588430e-03 9.89381046e-01 -7.00877643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:-7.22, Z:-7.01 [[ 9.56738432e-01 2.54321853e-01 1.41322215e-01 5.08063009e+01] [-2.51960194e-01 9.67116554e-01 -3.46645653e-02 -7.21870557e+00] [-1.45491010e-01 -2.44265077e-03 9.89356558e-01 -7.01401234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.84, Y:-7.23, Z:-7.02 [[ 9.56766034e-01 2.54021192e-01 1.41675653e-01 5.08382869e+01] [-2.51640229e-01 9.67195735e-01 -3.47793696e-02 -7.22690568e+00] [-1.45862784e-01 -2.37557424e-03 9.89301979e-01 -7.01883416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.87, Y:-7.23, Z:-7.02 [[ 9.56954540e-01 2.53304393e-01 1.41685895e-01 5.08685102e+01] [-2.50910909e-01 9.67384039e-01 -3.48114629e-02 -7.23487764e+00] [-1.45882570e-01 -2.23754922e-03 9.89299383e-01 -7.02387563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.90, Y:-7.24, Z:-7.03 [[ 9.56984645e-01 2.53113746e-01 1.41823206e-01 5.08998774e+01] [-2.50711010e-01 9.67434038e-01 -3.48621817e-02 -7.24350336e+00] [-1.46028694e-01 -2.19406656e-03 9.89277922e-01 -7.02957407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455871560000006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:50.93, Y:-7.25, Z:-7.04 [[ 9.56988327e-01 2.52875160e-01 1.42223402e-01 5.09297720e+01] [-2.50451825e-01 9.67496560e-01 -3.49898381e-02 -7.25296939e+00] [-1.46448713e-01 -2.13524409e-03 9.89215960e-01 -7.03735371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:-7.26, Z:-7.04 [[ 9.57025122e-01 2.52904768e-01 1.41922844e-01 5.09612829e+01] [-2.50489563e-01 9.67488857e-01 -3.49326408e-02 -7.26130865e+00] [-1.46143402e-01 -2.11877642e-03 9.89261147e-01 -7.03954587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:-7.27, Z:-7.05 [[ 9.56971665e-01 2.52941237e-01 1.42218014e-01 5.09919033e+01] [-2.50512036e-01 9.67479363e-01 -3.50342878e-02 -7.26917398e+00] [-1.46454610e-01 -2.10050349e-03 9.89215161e-01 -7.04510294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:-7.28, Z:-7.05 [[ 9.56789123e-01 2.53516169e-01 1.42422350e-01 5.10228399e+01] [-2.51083673e-01 9.67328705e-01 -3.51022190e-02 -7.27636729e+00] [-1.46668207e-01 -2.17450539e-03 9.89183354e-01 -7.04985952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.57587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:51.05, Y:-7.28, Z:-7.06 [[ 9.56540892e-01 2.54198722e-01 1.42872431e-01 5.10538461e+01] [-2.51755830e-01 9.67149345e-01 -3.52298998e-02 -7.28376825e+00] [-1.47134373e-01 -2.27012745e-03 9.89113908e-01 -7.05766652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:-7.29, Z:-7.06 [[ 9.56396105e-01 2.54962024e-01 1.42481074e-01 5.10852033e+01] [-2.52536753e-01 9.66948204e-01 -3.51618939e-02 -7.29052518e+00] [-1.46736766e-01 -2.35300938e-03 9.89172778e-01 -7.05985392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.12, Y:-7.30, Z:-7.07 [[ 9.55930188e-01 2.56606005e-01 1.42656347e-01 5.11170449e+01] [-2.54190474e-01 9.66512616e-01 -3.52216633e-02 -7.29739978e+00] [-1.46917250e-01 -2.59243326e-03 9.89145389e-01 -7.06537292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:-7.30, Z:-7.07 [[ 9.55711522e-01 2.57508382e-01 1.42495333e-01 5.11482992e+01] [-2.55104091e-01 9.66272292e-01 -3.52102372e-02 -7.30441315e+00] [-1.46756223e-01 -2.70031298e-03 9.89169004e-01 -7.07003729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:-7.31, Z:-7.07 [[ 9.55300751e-01 2.58772605e-01 1.42958782e-01 5.11803557e+01] [-2.56364189e-01 9.65933951e-01 -3.53412535e-02 -7.31168553e+00] [-1.47234089e-01 -2.88798617e-03 9.89097459e-01 -7.07497136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:51.21, Y:-7.32, Z:-7.08 [[ 9.54585969e-01 2.60777465e-01 1.44085879e-01 5.12119766e+01] [-2.58349274e-01 9.65393651e-01 -3.56476081e-02 -7.31864344e+00] [-1.48395686e-01 -3.19577575e-03 9.88922903e-01 -7.08377498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:-7.32, Z:-7.09 [[ 9.54599940e-01 2.61141459e-01 1.43332107e-01 5.12441846e+01] [-2.58738722e-01 9.65295211e-01 -3.54884276e-02 -7.32494422e+00] [-1.47625296e-01 -3.20831525e-03 9.89038158e-01 -7.08541400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:-7.33, Z:-7.09 [[ 9.54627559e-01 2.61189110e-01 1.43061076e-01 5.12760363e+01] [-2.58792508e-01 9.65282392e-01 -3.54449200e-02 -7.32933584e+00] [-1.47352165e-01 -3.18643717e-03 9.89078959e-01 -7.09042832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.31, Y:-7.34, Z:-7.10 [[ 9.54738475e-01 2.60816193e-01 1.43001249e-01 5.13076916e+01] [-2.58413997e-01 9.65383485e-01 -3.54532516e-02 -7.33536727e+00] [-1.47297827e-01 -3.10494118e-03 9.89087311e-01 -7.09592457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:-7.34, Z:-7.10 [[ 9.55050914e-01 2.59688667e-01 1.42966949e-01 5.13389640e+01] [-2.57270519e-01 9.65688036e-01 -3.54752979e-02 -7.34201657e+00] [-1.47274005e-01 -2.90046543e-03 9.89091479e-01 -7.10120543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:-7.35, Z:-7.11 [[ 9.56035549e-01 2.56016541e-01 1.43008951e-01 5.13705897e+01] [-2.53553439e-01 9.66669622e-01 -3.55034565e-02 -7.34972364e+00] [-1.47331881e-01 -2.31784492e-03 9.89084397e-01 -7.10715143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:-7.36, Z:-7.11 [[ 9.56656524e-01 2.54108566e-01 1.42257270e-01 5.14015134e+01] [-2.51646052e-01 9.67173666e-01 -3.53463533e-02 -7.35792054e+00] [-1.46569297e-01 -1.98416096e-03 9.89198415e-01 -7.11211582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:-7.37, Z:-7.12 [[ 9.57949294e-01 2.49361165e-01 1.41958300e-01 5.14325510e+01] [-2.46853112e-01 9.68409780e-01 -3.52992786e-02 -7.36663632e+00] [-1.46276075e-01 -1.22792908e-03 9.89243045e-01 -7.11809243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:-7.38, Z:-7.12 [[ 9.58485069e-01 2.47169138e-01 1.42175205e-01 5.14640930e+01] [-2.44625033e-01 9.68971964e-01 -3.53825621e-02 -7.37522489e+00] [-1.46509265e-01 -8.65956825e-04 9.89208919e-01 -7.12385528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.49, Y:-7.38, Z:-7.13 [[ 9.59087731e-01 2.45449821e-01 1.41085472e-01 5.14942499e+01] [-2.42921913e-01 9.69409130e-01 -3.51409000e-02 -7.38372338e+00] [-1.45394873e-01 -5.69546866e-04 9.89373543e-01 -7.12859452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:-7.39, Z:-7.13 [[ 9.59476322e-01 2.43626375e-01 1.41602883e-01 5.15257239e+01] [-2.41055944e-01 9.69869124e-01 -3.52975034e-02 -7.39188696e+00] [-1.45935667e-01 -2.67097770e-04 9.89294046e-01 -7.13338660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.56, Y:-7.40, Z:-7.14 [[ 9.59880742e-01 2.40786256e-01 1.43704348e-01 5.15556507e+01] [-2.38102346e-01 9.70578147e-01 -3.58515388e-02 -7.40040928e+00] [-1.48108858e-01 1.96859354e-04 9.88971045e-01 -7.14049853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:-7.41, Z:-7.14 [[ 9.60199565e-01 2.39424198e-01 1.43850089e-01 5.15880334e+01] [-2.36715474e-01 9.70914963e-01 -3.59154534e-02 -7.40894772e+00] [-1.48265233e-01 4.34460685e-04 9.88947538e-01 -7.14248186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.62, Y:-7.42, Z:-7.15 [[ 9.60442540e-01 2.37992690e-01 1.44601543e-01 5.16185909e+01] [-2.35234845e-01 9.71266702e-01 -3.61325550e-02 -7.41777339e+00] [-1.49045948e-01 6.87921368e-04 9.88830032e-01 -7.14701169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.65, Y:-7.43, Z:-7.15 [[ 9.61048840e-01 2.35387627e-01 1.44837126e-01 5.16495318e+01] [-2.32587193e-01 9.71900926e-01 -3.62186182e-02 -7.42906799e+00] [-1.49292751e-01 1.12060052e-03 9.88792404e-01 -7.15171710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175871560000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.68, Y:-7.44, Z:-7.16 [[ 9.61332135e-01 2.34620638e-01 1.44200147e-01 5.16799316e+01] [-2.31831818e-01 9.72086189e-01 -3.60894613e-02 -7.43907992e+00] [-1.48642304e-01 1.26377658e-03 9.88890221e-01 -7.15659966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205871560000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:51.71, Y:-7.45, Z:-7.17 [[ 9.61474233e-01 2.33363084e-01 1.45289266e-01 5.17093047e+01] [-2.30513140e-01 9.72388518e-01 -3.63904283e-02 -7.45181792e+00] [-1.49769796e-01 1.49737422e-03 9.88719761e-01 -7.16514986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:51.74, Y:-7.46, Z:-7.17 [[ 9.61455103e-01 2.33446303e-01 1.45282169e-01 5.17413720e+01] [-2.30593026e-01 9.72368516e-01 -3.64187393e-02 -7.45998355e+00] [-1.49769627e-01 1.51392780e-03 9.88719762e-01 -7.17044414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.77, Y:-7.47, Z:-7.17 [[ 9.61572786e-01 2.32843289e-01 1.45470890e-01 5.17720529e+01] [-2.29973880e-01 9.72512917e-01 -3.64779558e-02 -7.47012691e+00] [-1.49965967e-01 1.62170452e-03 9.88689829e-01 -7.17496270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.80, Y:-7.48, Z:-7.18 [[ 9.61884636e-01 2.32078634e-01 1.44628677e-01 5.18029287e+01] [-2.29229442e-01 9.72695435e-01 -3.62967368e-02 -7.47950958e+00] [-1.49103351e-01 1.76012238e-03 9.88820051e-01 -7.17681291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:-7.49, Z:-7.18 [[ 9.62044355e-01 2.31692757e-01 1.44184348e-01 5.18322493e+01] [-2.28852652e-01 9.72787271e-01 -3.62131078e-02 -7.49256822e+00] [-1.48651014e-01 1.84164549e-03 9.88888004e-01 -7.18135921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:-7.50, Z:-7.19 [[ 9.62027655e-01 2.31444690e-01 1.44693283e-01 5.18630076e+01] [-2.28577512e-01 9.72846182e-01 -3.63679314e-02 -7.50312295e+00] [-1.49181473e-01 1.91332508e-03 9.88807983e-01 -7.18659196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:-7.52, Z:-7.19 [[ 9.61912047e-01 2.32029717e-01 1.44524825e-01 5.18929581e+01] [-2.29171480e-01 9.72706941e-01 -3.63543635e-02 -7.51632198e+00] [-1.49015593e-01 1.84873215e-03 9.88833118e-01 -7.19197899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:-7.53, Z:-7.20 [[ 9.61795382e-01 2.32673818e-01 1.44265508e-01 5.19236002e+01] [-2.29828732e-01 9.72553210e-01 -3.63181448e-02 -7.52687484e+00] [-1.48756164e-01 1.77426530e-03 9.88872315e-01 -7.19705231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.95, Y:-7.55, Z:-7.20 [[ 9.61726630e-01 2.31380476e-01 1.46782032e-01 5.19502705e+01] [-2.31070354e-01 9.72743637e-01 -1.93986459e-02 -7.54644689e+00] [-1.47269756e-01 -1.52607818e-02 9.88978628e-01 -7.19527062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47587156 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:51.98, Y:-7.55, Z:-7.20 [[ 9.61485188e-01 2.34751680e-01 1.42961119e-01 5.19817209e+01] [-2.32710132e-01 9.72049470e-01 -3.10776850e-02 -7.55271715e+00] [-1.46260819e-01 -3.38776700e-03 9.89240262e-01 -7.19973595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.01, Y:-7.56, Z:-7.21 [[ 9.60802415e-01 2.38013880e-01 1.42155243e-01 5.20115895e+01] [-2.34727911e-01 9.71250001e-01 -3.97019293e-02 -7.55785774e+00] [-1.47517890e-01 4.77790639e-03 9.89047847e-01 -7.20594027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:-7.56, Z:-7.22 [[ 9.60198521e-01 2.42121132e-01 1.39270092e-01 5.20443838e+01] [-2.37060921e-01 9.70096962e-01 -5.20961025e-02 -7.56248848e+00] [-1.47719060e-01 1.70071043e-02 9.88883126e-01 -7.21822391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:-7.58, Z:-7.22 [[ 9.59822457e-01 2.41557222e-01 1.42796917e-01 5.20725957e+01] [-2.38850252e-01 9.70386443e-01 -3.60653245e-02 -7.58128434e+00] [-1.47280032e-01 5.09228636e-04 9.89094704e-01 -7.22368108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:-7.59, Z:-7.23 [[ 9.59243076e-01 2.43975753e-01 1.42578236e-01 5.21026982e+01] [-2.41299713e-01 9.69781318e-01 -3.60366926e-02 -7.59059270e+00] [-1.47061789e-01 1.63860422e-04 9.89127294e-01 -7.22800809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:-7.61, Z:-7.23 [[ 9.58152203e-01 2.46181633e-01 1.46078604e-01 5.21293362e+01] [-2.46369607e-01 9.69025239e-01 -1.70910288e-02 -7.61027348e+00] [-1.45761352e-01 -1.96135215e-02 9.89125340e-01 -7.22601535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.17, Y:-7.60, Z:-7.24 [[ 9.57329483e-01 2.53917591e-01 1.38007677e-01 5.21664464e+01] [-2.48708195e-01 9.67068874e-01 -5.40557675e-02 -7.59729531e+00] [-1.47188639e-01 1.74255396e-02 9.88954931e-01 -7.23762909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.19, Y:-7.62, Z:-7.24 [[ 9.56068299e-01 2.55738792e-01 1.43286697e-01 5.21947569e+01] [-2.53157901e-01 9.66744608e-01 -3.62759021e-02 -7.61768921e+00] [-1.47798797e-01 -1.59191933e-03 9.89016168e-01 -7.24489904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:-7.63, Z:-7.25 [[ 9.55489954e-01 2.57886902e-01 1.43294427e-01 5.22263495e+01] [-2.55325541e-01 9.66173249e-01 -3.63059244e-02 -7.62625714e+00] [-1.47810065e-01 -1.89678113e-03 9.89013947e-01 -7.24758664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:-7.63, Z:-7.25 [[ 9.54934261e-01 2.59719687e-01 1.43688000e-01 5.22575337e+01] [-2.57160557e-01 9.65681637e-01 -3.64338401e-02 -7.63434840e+00] [-1.48219448e-01 -2.15896386e-03 9.88952139e-01 -7.25239026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775871560000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.28, Y:-7.65, Z:-7.25 [[ 9.53879967e-01 2.61227349e-01 1.47896182e-01 5.22847384e+01] [-2.61192373e-01 9.65079408e-01 -2.00070228e-02 -7.65021350e+00] [-1.47957941e-01 -1.95450565e-02 9.88800505e-01 -7.25274881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:-7.65, Z:-7.26 [[ 9.53184621e-01 2.65650986e-01 1.44459796e-01 5.23185645e+01] [-2.63275150e-01 9.64060862e-01 -3.56770116e-02 -7.64886066e+00] [-1.48745669e-01 -4.02589571e-03 9.88867291e-01 -7.25881128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:-7.65, Z:-7.27 [[ 9.52438908e-01 2.70588107e-01 1.40150642e-01 5.23537447e+01] [-2.65759763e-01 9.62611293e-01 -5.24523352e-02 -7.64585162e+00] [-1.49103568e-01 1.27112435e-02 9.88739880e-01 -7.26844994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.38, Y:-7.67, Z:-7.27 [[ 9.52308398e-01 2.66635873e-01 1.48371247e-01 5.23766905e+01] [-2.67008834e-01 9.63530183e-01 -1.77726959e-02 -7.67322041e+00] [-1.47699013e-01 -2.26913461e-02 9.88772018e-01 -7.26835645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:-7.67, Z:-7.28 [[ 9.51860122e-01 2.70316279e-01 1.44538633e-01 5.24093640e+01] [-2.67515876e-01 9.62770093e-01 -3.88459116e-02 -7.66929784e+00] [-1.49658156e-01 -1.69050491e-03 9.88736354e-01 -7.27682644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:-7.68, Z:-7.28 [[ 9.52211108e-01 2.69637751e-01 1.43490378e-01 5.24403860e+01] [-2.67072066e-01 9.62957519e-01 -3.72199971e-02 -7.67867656e+00] [-1.48211055e-01 -2.88097716e-03 9.88951558e-01 -7.28119387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:-7.69, Z:-7.29 [[ 9.52380018e-01 2.68718853e-01 1.44091911e-01 5.24697952e+01] [-2.66482557e-01 9.63205183e-01 -3.49688592e-02 -7.68673678e+00] [-1.48186867e-01 -5.09433807e-03 9.88946257e-01 -7.28670839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:-7.68, Z:-7.30 [[ 9.53010398e-01 2.69149820e-01 1.39030774e-01 5.25063145e+01] [-2.64509119e-01 9.63023383e-01 -5.11946339e-02 -7.68139555e+00] [-1.47668913e-01 1.20141109e-02 9.88963879e-01 -7.29513341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:52.54, Y:-7.70, Z:-7.30 [[ 9.53238975e-01 2.66134666e-01 1.43205431e-01 5.25350488e+01] [-2.63629947e-01 9.63931440e-01 -3.65435281e-02 -7.69710373e+00] [-1.47765717e-01 -2.91852480e-03 9.89018086e-01 -7.30378451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:-7.70, Z:-7.31 [[ 9.53522989e-01 2.65383586e-01 1.42707610e-01 5.25670848e+01] [-2.62883736e-01 9.64138948e-01 -3.64449052e-02 -7.70446842e+00] [-1.47261845e-01 -2.76445487e-03 9.89093679e-01 -7.30576652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:-7.72, Z:-7.31 [[ 9.53647572e-01 2.62671726e-01 1.46832804e-01 5.25927315e+01] [-2.62437823e-01 9.64713458e-01 -2.13151021e-02 -7.72098000e+00] [-1.47250456e-01 -1.82073859e-02 9.88931643e-01 -7.30760676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:-7.72, Z:-7.31 [[ 9.54527261e-01 2.61185355e-01 1.43735584e-01 5.26258884e+01] [-2.58724210e-01 9.65284223e-01 -3.58908372e-02 -7.72055875e+00] [-1.48119853e-01 -2.92909290e-03 9.88965080e-01 -7.31268248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:-7.72, Z:-7.32 [[ 9.55360904e-01 2.60583250e-01 1.39218939e-01 5.26605176e+01] [-2.55829407e-01 9.65358015e-01 -5.13343651e-02 -7.71970478e+00] [-1.47772994e-01 1.34265468e-02 9.88930164e-01 -7.32056084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:52.69, Y:-7.74, Z:-7.33 [[ 9.56793379e-01 2.52728943e-01 1.43786337e-01 5.26891190e+01] [-2.50033962e-01 9.67536849e-01 -3.68166108e-02 -7.73619447e+00] [-1.48423202e-01 -7.25577964e-04 9.88923671e-01 -7.32786791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:-7.75, Z:-7.33 [[ 9.57148491e-01 2.48244699e-01 1.49135295e-01 5.27158671e+01] [-2.47949410e-01 9.68548145e-01 -2.08705673e-02 -7.75305026e+00] [-1.49625721e-01 -1.70017764e-02 9.88596522e-01 -7.32717433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:-7.74, Z:-7.34 [[ 9.57949197e-01 2.49894313e-01 1.41018324e-01 5.27532677e+01] [-2.44852945e-01 9.68147606e-01 -5.23187275e-02 -7.74407481e+00] [-1.49600705e-01 1.55899312e-02 9.88623580e-01 -7.33555961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.78, Y:-7.76, Z:-7.34 [[ 9.59331720e-01 2.41903352e-01 1.45483401e-01 5.27809545e+01] [-2.39005613e-01 9.70299776e-01 -3.73451739e-02 -7.76329238e+00] [-1.50196434e-01 1.05506048e-03 9.88655611e-01 -7.34309012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:-7.77, Z:-7.35 [[ 9.59944278e-01 2.39516288e-01 1.45392333e-01 5.28125854e+01] [-2.36590675e-01 9.70891255e-01 -3.73500073e-02 -7.77286550e+00] [-1.50106080e-01 1.45545544e-03 9.88668825e-01 -7.34712164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:-7.78, Z:-7.35 [[ 9.61059801e-01 2.35391650e-01 1.44757830e-01 5.28437623e+01] [-2.32440715e-01 9.71898287e-01 -3.72160485e-02 -7.78364989e+00] [-1.49450234e-01 2.11923481e-03 9.88766978e-01 -7.35226181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:-7.79, Z:-7.36 [[ 9.61416435e-01 2.33917147e-01 1.44779856e-01 5.28738437e+01] [-2.30944048e-01 9.72253624e-01 -3.72523599e-02 -7.79403339e+00] [-1.49476705e-01 2.37898522e-03 9.88762386e-01 -7.35777493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:-7.80, Z:-7.36 [[ 9.61697438e-01 2.32611901e-01 1.45016345e-01 5.29045718e+01] [-2.29611568e-01 9.72566154e-01 -3.73310044e-02 -7.80475268e+00] [-1.49721625e-01 2.60370090e-03 9.88724762e-01 -7.36251696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:-7.82, Z:-7.37 [[ 9.62303255e-01 2.30237935e-01 1.44785838e-01 5.29353675e+01] [-2.27216031e-01 9.73129750e-01 -3.73010133e-02 -7.81722666e+00] [-1.49483515e-01 2.99722303e-03 9.88759675e-01 -7.36746348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.97, Y:-7.83, Z:-7.37 [[ 9.62426391e-01 2.29470229e-01 1.45185591e-01 5.29662352e+01] [-2.26418343e-01 9.73310569e-01 -3.74335363e-02 -7.82763424e+00] [-1.49900553e-01 3.15434211e-03 9.88696048e-01 -7.37246264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:-7.84, Z:-7.38 [[ 9.62340908e-01 2.27195225e-01 1.49272590e-01 5.29922415e+01] [-2.26040703e-01 9.73799975e-01 -2.48839301e-02 -7.84459546e+00] [-1.51015154e-01 -9.79485733e-03 9.88482920e-01 -7.37531792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.02, Y:-7.85, Z:-7.38 [[ 9.62749128e-01 2.28006187e-01 1.45352312e-01 5.30232592e+01] [-2.25325750e-01 9.73659340e-01 -3.48682728e-02 -7.85105520e+00] [-1.49473818e-01 8.17780398e-04 9.88765346e-01 -7.37828485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:-7.86, Z:-7.39 [[ 9.63037016e-01 2.29805768e-01 1.40531191e-01 5.30558817e+01] [-2.24800938e-01 9.73083462e-01 -5.07258789e-02 -7.85605746e+00] [-1.48405677e-01 1.72593555e-02 9.88775945e-01 -7.38811058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.08, Y:-7.88, Z:-7.39 [[ 9.63053590e-01 2.28185726e-01 1.43035162e-01 5.30844133e+01] [-2.25196019e-01 9.73611699e-01 -3.69731359e-02 -7.87591615e+00] [-1.47697449e-01 3.39616217e-03 9.89026759e-01 -7.39430854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.12, Y:-7.89, Z:-7.40 [[ 9.62804805e-01 2.29178617e-01 1.43122566e-01 5.31151304e+01] [-2.26191647e-01 9.73378874e-01 -3.70257445e-02 -7.88707483e+00] [-1.47797991e-01 3.27543579e-03 9.89012146e-01 -7.39830919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:-7.90, Z:-7.40 [[ 9.61996216e-01 2.32362492e-01 1.43425778e-01 5.31443228e+01] [-2.29393385e-01 9.72625163e-01 -3.71344569e-02 -7.90054595e+00] [-1.48128176e-01 2.82228239e-03 9.88964144e-01 -7.40346979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.17, Y:-7.91, Z:-7.41 [[ 9.61699681e-01 2.33976583e-01 1.42788941e-01 5.31748199e+01] [-2.31047513e-01 9.72238785e-01 -3.69971815e-02 -7.91123872e+00] [-1.47481420e-01 2.58914788e-03 9.89061437e-01 -7.40984923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675871560000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.21, Y:-7.92, Z:-7.41 [[ 9.61258091e-01 2.35692866e-01 1.42939693e-01 5.32058263e+01] [-2.32771987e-01 9.71824735e-01 -3.70659898e-02 -7.92225326e+00] [-1.47648519e-01 2.35762635e-03 9.89037086e-01 -7.41489685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705871560000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:53.24, Y:-7.94, Z:-7.42 [[ 9.60410946e-01 2.39090975e-01 1.42990632e-01 5.32352536e+01] [-2.36200978e-01 9.70995379e-01 -3.71089157e-02 -7.93738176e+00] [-1.47715649e-01 1.86528176e-03 9.89028113e-01 -7.42070284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:53.27, Y:-7.95, Z:-7.43 [[ 9.60006919e-01 2.40785160e-01 1.42860850e-01 5.32657128e+01] [-2.37914673e-01 9.70577067e-01 -3.71047911e-02 -7.94857081e+00] [-1.47591748e-01 1.63216370e-03 9.89047022e-01 -7.42584170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76587156 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:53.30, Y:-7.96, Z:-7.43 [[ 9.59564619e-01 2.42546581e-01 1.42852717e-01 5.32950973e+01] [-2.39691381e-01 9.70138765e-01 -3.71324553e-02 -7.95972057e+00] [-1.47593308e-01 1.39042535e-03 9.89047159e-01 -7.43130419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.33, Y:-7.97, Z:-7.44 [[ 9.58812767e-01 2.45451752e-01 1.42938850e-01 5.33253789e+01] [-2.42621038e-01 9.69408322e-01 -3.71824883e-02 -7.97475277e+00] [-1.47692617e-01 9.71072289e-04 9.89032835e-01 -7.43566729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:-8.00, Z:-7.43 [[ 9.58633784e-01 2.45134852e-01 1.44672639e-01 5.33544092e+01] [-2.44485439e-01 9.69391171e-01 -2.25305865e-02 -7.99519330e+00] [-1.45767411e-01 -1.37717722e-02 9.89223029e-01 -7.43213258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.39, Y:-7.99, Z:-7.45 [[ 9.57903538e-01 2.51229924e-01 1.38940046e-01 5.33864735e+01] [-2.46389350e-01 9.67812779e-01 -5.12904756e-02 -7.98999108e+00] [-1.47353654e-01 1.48979805e-02 9.88971663e-01 -7.44638667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:-8.01, Z:-7.45 [[ 9.56981182e-01 2.52720430e-01 1.42546138e-01 5.34144372e+01] [-2.49976598e-01 9.67539341e-01 -3.71392624e-02 -8.01288860e+00] [-1.47304847e-01 -9.16234456e-05 9.89091135e-01 -7.45076657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:-8.02, Z:-7.46 [[ 9.56372428e-01 2.54746042e-01 1.43025286e-01 5.34454606e+01] [-2.52001805e-01 9.67007917e-01 -3.72931353e-02 -8.02459414e+00] [-1.47806863e-01 -3.76503897e-04 9.89016173e-01 -7.45625377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:-8.04, Z:-7.46 [[ 9.55429203e-01 2.58204323e-01 1.43127796e-01 5.34750090e+01] [-2.55490210e-01 9.66089928e-01 -3.73497570e-02 -8.03841833e+00] [-1.47918191e-01 -8.82702127e-04 9.88999206e-01 -7.46038680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:-8.05, Z:-7.47 [[ 9.54798854e-01 2.60399452e-01 1.43357152e-01 5.35050229e+01] [-2.57698579e-01 9.65500216e-01 -3.74269358e-02 -8.04916691e+00] [-1.48157315e-01 -1.20773900e-03 9.88963069e-01 -7.46521837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.54, Y:-8.06, Z:-7.47 [[ 9.54274284e-01 2.62172539e-01 1.43618070e-01 5.35354876e+01] [-2.59477706e-01 9.65019912e-01 -3.75218666e-02 -8.05950020e+00] [-1.48431501e-01 -1.45953501e-03 9.88921614e-01 -7.47112357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:-8.07, Z:-7.48 [[ 9.53251268e-01 2.65461222e-01 1.44368835e-01 5.35654627e+01] [-2.62771186e-01 9.64119557e-01 -3.77463021e-02 -8.07238605e+00] [-1.49208997e-01 -1.95425968e-03 9.88803750e-01 -7.47626291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:-8.08, Z:-7.48 [[ 9.52776572e-01 2.66982286e-01 1.44697142e-01 5.35959519e+01] [-2.64293063e-01 9.63698994e-01 -3.78606063e-02 -8.08304518e+00] [-1.49552601e-01 -2.16975216e-03 9.88751390e-01 -7.48198484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:-8.09, Z:-7.49 [[ 9.52492896e-01 2.67892444e-01 1.44882444e-01 5.36255157e+01] [-2.65202359e-01 9.63446110e-01 -3.79381378e-02 -8.09331870e+00] [-1.49749767e-01 -2.28735909e-03 9.88721283e-01 -7.48738061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:-8.12, Z:-7.48 [[ 9.52448686e-01 2.66837696e-01 1.47102496e-01 5.36552483e+01] [-2.66579678e-01 9.63565495e-01 -2.18360187e-02 -8.11613541e+00] [-1.47569562e-01 -1.84168487e-02 9.88880197e-01 -7.48180521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:-8.11, Z:-7.50 [[ 9.51440093e-01 2.73610828e-01 1.41063334e-01 5.36866260e+01] [-2.68582269e-01 9.61747090e-01 -5.39082539e-02 -8.10775121e+00] [-1.50417133e-01 1.34033637e-02 9.88531758e-01 -7.49872430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.72, Y:-8.13, Z:-7.50 [[ 9.51509928e-01 2.71174340e-01 1.45235445e-01 5.37163927e+01] [-2.68501194e-01 9.62526289e-01 -3.80821632e-02 -8.12550873e+00] [-1.50119840e-01 -2.76033410e-03 9.88663954e-01 -7.50267967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:-8.14, Z:-7.51 [[ 9.51020751e-01 2.73084356e-01 1.44860161e-01 5.37477497e+01] [-2.70445421e-01 9.61985278e-01 -3.79947287e-02 -8.13524936e+00] [-1.49729108e-01 -3.04299174e-03 9.88722375e-01 -7.50813055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:-8.14, Z:-7.51 [[ 9.50517889e-01 2.75222287e-01 1.44112577e-01 5.37789285e+01] [-2.72630943e-01 9.61374832e-01 -3.78259200e-02 -8.14432769e+00] [-1.48956741e-01 -3.33533417e-03 9.88838088e-01 -7.51308973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:-8.15, Z:-7.52 [[ 9.49946114e-01 2.77682818e-01 1.43159465e-01 5.38104330e+01] [-2.75149519e-01 9.60665803e-01 -3.76026245e-02 -8.15279512e+00] [-1.47970005e-01 -3.66979095e-03 9.88985040e-01 -7.51833140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:-8.16, Z:-7.52 [[ 9.48481307e-01 2.82988632e-01 1.42480332e-01 5.38409000e+01] [-2.80534435e-01 9.59112955e-01 -3.74535649e-02 -8.15902577e+00] [-1.47253665e-01 -4.44663319e-03 9.89088765e-01 -7.52393130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:-8.18, Z:-7.52 [[ 9.47895396e-01 2.83983264e-01 1.44387758e-01 5.38720555e+01] [-2.83743521e-01 9.58631717e-01 -2.26902016e-02 -8.17600561e+00] [-1.44858322e-01 -1.94611532e-02 9.89261002e-01 -7.52043132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:-8.16, Z:-7.54 [[ 9.45956963e-01 2.92971925e-01 1.39042710e-01 5.39056587e+01] [-2.88478051e-01 9.56078824e-01 -5.19008350e-02 -8.16369919e+00] [-1.48141278e-01 8.98518635e-03 9.88925391e-01 -7.53589750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.93, Y:-8.18, Z:-7.54 [[ 9.45303283e-01 2.93019335e-01 1.43322614e-01 5.39349007e+01] [-2.90641280e-01 9.56087777e-01 -3.77333871e-02 -8.17889625e+00] [-1.48085612e-01 -5.98597338e-03 9.88956430e-01 -7.53966069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:-8.19, Z:-7.54 [[ 9.44706585e-01 2.94678198e-01 1.43854889e-01 5.39668730e+01] [-2.92297387e-01 9.55576151e-01 -3.79006388e-02 -8.18550566e+00] [-1.48632793e-01 -6.24342490e-03 9.88872748e-01 -7.54484480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:-8.19, Z:-7.55 [[ 9.44201881e-01 2.95835224e-01 1.44790634e-01 5.39978792e+01] [-2.93432237e-01 9.55217280e-01 -3.81768294e-02 -8.18993672e+00] [-1.49600567e-01 -6.43960560e-03 9.88725544e-01 -7.55041789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:-8.20, Z:-7.56 [[ 9.44145505e-01 2.95900707e-01 1.45024262e-01 5.40295538e+01] [-2.93486545e-01 9.55197034e-01 -3.82658454e-02 -8.19647085e+00] [-1.49849636e-01 -6.43414359e-03 9.88687862e-01 -7.55518724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:-8.20, Z:-7.56 [[ 9.44278774e-01 2.95403016e-01 1.45171122e-01 5.40611939e+01] [-2.92974147e-01 9.55351719e-01 -3.83306972e-02 -8.20225267e+00] [-1.50012485e-01 -6.33652203e-03 9.88663797e-01 -7.56052535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:-8.21, Z:-7.57 [[ 9.45284895e-01 2.92317095e-01 1.44869540e-01 5.40941799e+01] [-2.89857802e-01 9.56303831e-01 -3.82810346e-02 -8.20554778e+00] [-1.49729497e-01 -5.80508260e-03 9.88709957e-01 -7.56658921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.13, Y:-8.21, Z:-7.57 [[ 9.45979346e-01 2.90188836e-01 1.44615064e-01 5.41252881e+01] [-2.87708944e-01 9.56954003e-01 -3.82439382e-02 -8.21146833e+00] [-1.49487928e-01 -5.42907166e-03 9.88748646e-01 -7.57210928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:-8.22, Z:-7.58 [[ 9.47607621e-01 2.84912188e-01 1.44446677e-01 5.41572715e+01] [-2.82372878e-01 9.58542760e-01 -3.82274175e-02 -8.21603693e+00] [-1.49349774e-01 -4.56323185e-03 9.88773898e-01 -7.57746382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:-8.22, Z:-7.58 [[ 9.48458388e-01 2.81961009e-01 1.44653643e-01 5.41880561e+01] [-2.79375808e-01 9.59417207e-01 -3.83116182e-02 -8.22296532e+00] [-1.49585577e-01 -4.07575280e-03 9.88740382e-01 -7.58306968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:-8.23, Z:-7.59 [[ 9.49337463e-01 2.78984540e-01 1.44658246e-01 5.42199156e+01] [-2.76360697e-01 9.60288919e-01 -3.83400151e-02 -8.23072384e+00] [-1.49609982e-01 -3.58024095e-03 9.88738608e-01 -7.58779028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:-8.24, Z:-7.59 [[ 9.51099421e-01 2.72580350e-01 1.45292269e-01 5.42515379e+01] [-2.69854420e-01 9.62129631e-01 -3.85378275e-02 -8.23601750e+00] [-1.50294652e-01 -2.55445557e-03 9.88637948e-01 -7.59258566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:-8.24, Z:-7.60 [[ 9.51998668e-01 2.69431186e-01 1.45276884e-01 5.42837770e+01] [-2.66664877e-01 9.63017509e-01 -3.85632015e-02 -8.24330263e+00] [-1.50294312e-01 -2.02812598e-03 9.88639220e-01 -7.59802259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:-8.25, Z:-7.60 [[ 9.53885886e-01 2.62744819e-01 1.45144332e-01 5.43159503e+01] [-2.59901979e-01 9.64864897e-01 -3.85576437e-02 -8.24974677e+00] [-1.50175492e-01 -9.43707049e-04 9.88658905e-01 -7.60301565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:-8.26, Z:-7.61 [[ 9.54634215e-01 2.59842084e-01 1.45449672e-01 5.43474308e+01] [-2.56948956e-01 9.65651015e-01 -3.86697788e-02 -8.25767229e+00] [-1.50501660e-01 -4.57647533e-04 9.88609650e-01 -7.60880268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.38, Y:-8.27, Z:-7.61 [[ 9.55449912e-01 2.57360435e-01 1.44502843e-01 5.43793098e+01] [-2.54475064e-01 9.66315478e-01 -3.84296566e-02 -8.26620693e+00] [-1.49525607e-01 -5.47580549e-05 9.88757852e-01 -7.61399462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845871560000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.41, Y:-8.27, Z:-7.62 [[ 9.56519503e-01 2.53762225e-01 1.43788643e-01 5.44105057e+01] [-2.50860453e-01 9.67266482e-01 -3.82699113e-02 -8.27332160e+00] [-1.48793393e-01 5.35032477e-04 9.88868161e-01 -7.61918873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:-8.28, Z:-7.62 [[ 9.56582448e-01 2.52670018e-01 1.45285518e-01 5.44412211e+01] [-2.49690251e-01 9.67552228e-01 -3.86970911e-02 -8.28068806e+00] [-1.50348922e-01 7.40580623e-04 9.88632719e-01 -7.62452130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:-8.29, Z:-7.63 [[ 9.56796215e-01 2.51634199e-01 1.45675091e-01 5.44715748e+01] [-2.48622133e-01 9.67821966e-01 -3.88288051e-02 -8.28859505e+00] [-1.50758209e-01 9.33201790e-04 9.88570226e-01 -7.62893274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:54.50, Y:-8.30, Z:-7.63 [[ 9.57205067e-01 2.50661999e-01 1.44661747e-01 5.45032667e+01] [-2.47676805e-01 9.68074037e-01 -3.85857400e-02 -8.29781036e+00] [-1.49715261e-01 1.10510654e-03 9.88728537e-01 -7.63269223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:-8.30, Z:-7.64 [[ 9.56921697e-01 2.50663525e-01 1.46521887e-01 5.45338580e+01] [-2.47595902e-01 9.68073590e-01 -3.91125722e-02 -8.30401848e+00] [-1.51648065e-01 1.14945010e-03 9.88433884e-01 -7.63863137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:-8.32, Z:-7.63 [[ 9.57199150e-01 2.48626973e-01 1.48170225e-01 5.45654538e+01] [-2.48059700e-01 9.68481192e-01 -2.25957204e-02 -8.32180040e+00] [-1.49117982e-01 -1.51264572e-02 9.88703706e-01 -7.63345257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:-8.32, Z:-7.64 [[ 9.56674652e-01 2.52333580e-01 1.45263121e-01 5.45989847e+01] [-2.49968030e-01 9.67635040e-01 -3.46181205e-02 -8.32147788e+00] [-1.49297001e-01 -3.19285785e-03 9.88787243e-01 -7.63924263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:-8.33, Z:-7.65 [[ 9.56268970e-01 2.54650509e-01 1.43884591e-01 5.46290307e+01] [-2.51493229e-01 9.67030886e-01 -4.00302526e-02 -8.32562539e+00] [-1.49334567e-01 2.09368814e-03 9.88784508e-01 -7.64529989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:-8.32, Z:-7.66 [[ 9.55493710e-01 2.58811672e-01 1.41591979e-01 5.46594676e+01] [-2.53034206e-01 9.65734749e-01 -5.77068857e-02 -8.32155440e+00] [-1.51675510e-01 1.93109522e-02 9.88241684e-01 -7.66102614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:54.69, Y:-8.34, Z:-7.66 [[ 9.54730719e-01 2.60081704e-01 1.44384078e-01 5.46882450e+01] [-2.57198415e-01 9.65586577e-01 -3.86204265e-02 -8.33892130e+00] [-1.49459794e-01 -2.63248688e-04 9.88767769e-01 -7.66489193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:-8.34, Z:-7.67 [[ 9.53910220e-01 2.62427505e-01 1.45557883e-01 5.47201780e+01] [-2.59521234e-01 9.64951513e-01 -3.89526150e-02 -8.34407284e+00] [-1.50678537e-01 -6.18063925e-04 9.88582620e-01 -7.67048963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:-8.35, Z:-7.68 [[ 9.53152621e-01 2.65042612e-01 1.45782357e-01 5.47528252e+01] [-2.62153074e-01 9.64236178e-01 -3.90430319e-02 -8.34998997e+00] [-1.50916690e-01 -1.00332478e-03 9.88545976e-01 -7.67562891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:-8.37, Z:-7.67 [[ 9.51944763e-01 2.67127117e-01 1.49814123e-01 5.47842420e+01] [-2.67545335e-01 9.63382028e-01 -1.77358673e-02 -8.36559127e+00] [-1.49065965e-01 -2.31985038e-02 9.88555091e-01 -7.67007164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23587156000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:54.82, Y:-8.35, Z:-7.69 [[ 9.50670246e-01 2.76441032e-01 1.40735354e-01 5.48182508e+01] [-2.70464626e-01 9.60837055e-01 -6.03410215e-02 -8.34718674e+00] [-1.51904477e-01 1.93004788e-02 9.88206720e-01 -7.68596950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:-8.37, Z:-7.69 [[ 9.49937244e-01 2.75258874e-01 1.47823488e-01 5.48473622e+01] [-2.72400499e-01 9.61366623e-01 -3.96507676e-02 -8.36538260e+00] [-1.53026794e-01 -2.60145113e-03 9.88218616e-01 -7.69105659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:54.88, Y:-8.37, Z:-7.70 [[ 9.49193470e-01 2.78266452e-01 1.46967816e-01 5.48797468e+01] [-2.75472469e-01 9.60499113e-01 -3.94508873e-02 -8.37146921e+00] [-1.52140316e-01 -3.03906273e-03 9.88354232e-01 -7.69670043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:-8.38, Z:-7.70 [[ 9.48731858e-01 2.79070798e-01 1.48416141e-01 5.49116876e+01] [-2.76226251e-01 9.60265296e-01 -3.98700463e-02 -8.37634544e+00] [-1.53645436e-01 -3.17045119e-03 9.88120958e-01 -7.70229429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:-8.38, Z:-7.71 [[ 9.48429276e-01 2.80050232e-01 1.48505139e-01 5.49436068e+01] [-2.77209508e-01 9.59979669e-01 -3.99239819e-02 -8.38020602e+00] [-1.53742635e-01 -3.30196327e-03 9.88105409e-01 -7.70856441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:-8.40, Z:-7.70 [[ 9.48853972e-01 2.77212388e-01 1.51094114e-01 5.49730442e+01] [-2.77958307e-01 9.60449857e-01 -1.65906824e-02 -8.40066953e+00] [-1.49717463e-01 -2.62557291e-02 9.88380149e-01 -7.70165850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:-8.39, Z:-7.71 [[ 9.48275361e-01 2.82043431e-01 1.45689198e-01 5.50081095e+01] [-2.78400109e-01 9.59398765e-01 -4.52480731e-02 -8.39054280e+00] [-1.52535959e-01 2.34774408e-03 9.88295133e-01 -7.71124715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:-8.39, Z:-7.72 [[ 9.47861207e-01 2.83929254e-01 1.44718043e-01 5.50381191e+01] [-2.78528234e-01 9.58750570e-01 -5.67394777e-02 -8.38818833e+00] [-1.54858503e-01 1.34730890e-02 9.87844785e-01 -7.72445465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:-8.40, Z:-7.73 [[ 9.47712087e-01 2.82592303e-01 1.48267966e-01 5.50680081e+01] [-2.79778998e-01 9.59233244e-01 -3.99411489e-02 -8.40144266e+00] [-1.53510624e-01 -3.62955357e-03 9.88140332e-01 -7.73076579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:-8.41, Z:-7.74 [[ 9.47613743e-01 2.83245841e-01 1.47648191e-01 5.51002273e+01] [-2.80459275e-01 9.59040239e-01 -3.98047249e-02 -8.40743096e+00] [-1.52875079e-01 -3.68980023e-03 9.88238633e-01 -7.73636576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:-8.42, Z:-7.74 [[ 9.47551209e-01 2.82924472e-01 1.48662202e-01 5.51318663e+01] [-2.81018012e-01 9.59095694e-01 -3.41222271e-02 -8.41666792e+00] [-1.52235291e-01 -9.44419898e-03 9.88299157e-01 -7.73967271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:-8.42, Z:-7.74 [[ 9.47567273e-01 2.83600250e-01 1.47265614e-01 5.51644614e+01] [-2.81112958e-01 9.58926796e-01 -3.78801232e-02 -8.41645254e+00] [-1.51959756e-01 -5.50430735e-03 9.88371355e-01 -7.74327600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:-8.42, Z:-7.75 [[ 9.47454603e-01 2.84751042e-01 1.45762201e-01 5.51956560e+01] [-2.80791962e-01 9.58592870e-01 -4.74929833e-02 -8.41527742e+00] [-1.53250283e-01 4.06859134e-03 9.88179031e-01 -7.75229016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:-8.44, Z:-7.75 [[ 9.48459182e-01 2.78600835e-01 1.51019051e-01 5.52262405e+01] [-2.79467774e-01 9.60023589e-01 -1.58893666e-02 -8.43684180e+00] [-1.49408642e-01 -2.71345424e-02 9.88403144e-01 -7.74784316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:-8.42, Z:-7.76 [[ 9.47926118e-01 2.84476611e-01 1.43210099e-01 5.52618105e+01] [-2.78908501e-01 9.58565194e-01 -5.79898003e-02 -8.41807881e+00] [-1.53772958e-01 1.50275322e-02 9.87991928e-01 -7.76087862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:-8.44, Z:-7.76 [[ 9.48516056e-01 2.79754284e-01 1.48508693e-01 5.52893745e+01] [-2.77781950e-01 9.60031958e-01 -3.42903362e-02 -8.43776072e+00] [-1.52165960e-01 -8.72810004e-03 9.88316417e-01 -7.76366620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:-8.44, Z:-7.78 [[ 9.47999813e-01 2.76957962e-01 1.56814038e-01 5.53164122e+01] [-2.75833981e-01 9.60757782e-01 -2.93274445e-02 -8.44235008e+00] [-1.58782777e-01 -1.54522285e-02 9.87192615e-01 -7.77886784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:-8.43, Z:-7.78 [[ 9.48950256e-01 2.81572079e-01 1.42163904e-01 5.53545029e+01] [-2.74930821e-01 9.59278708e-01 -6.47873829e-02 -8.42620185e+00] [-1.54617124e-01 2.23947647e-02 9.87720618e-01 -7.78047590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775871560000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.38, Y:-8.45, Z:-7.79 [[ 9.49442038e-01 2.77027836e-01 1.47700355e-01 5.53811714e+01] [-2.74132712e-01 9.60858668e-01 -4.00234446e-02 -8.44757849e+00] [-1.53006774e-01 -2.48955788e-03 9.88222004e-01 -7.78832661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:-8.45, Z:-7.79 [[ 9.49837544e-01 2.75712617e-01 1.47618404e-01 5.54135448e+01] [-2.72800356e-01 9.61237484e-01 -4.00307956e-02 -8.45293473e+00] [-1.52933339e-01 -2.24760055e-03 9.88233951e-01 -7.79311543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:55.44, Y:-8.46, Z:-7.80 [[ 9.50784483e-01 2.73140342e-01 1.46298397e-01 5.54442735e+01] [-2.70245491e-01 9.61972533e-01 -3.97016516e-02 -8.45773795e+00] [-1.51579162e-01 -1.78876779e-03 9.88443503e-01 -7.80029763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.48, Y:-8.46, Z:-7.80 [[ 9.51206165e-01 2.71075879e-01 1.47393009e-01 5.54754167e+01] [-2.68108425e-01 9.62556898e-01 -4.00261251e-02 -8.46244493e+00] [-1.52724274e-01 -1.44421049e-03 9.88267783e-01 -7.80462917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:-8.47, Z:-7.81 [[ 9.51765032e-01 2.69074971e-01 1.47451630e-01 5.55069762e+01] [-2.66077099e-01 9.63118609e-01 -4.00689584e-02 -8.46944042e+00] [-1.52794962e-01 -1.09726840e-03 9.88257302e-01 -7.81044019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.54, Y:-8.47, Z:-7.82 [[ 9.52948082e-01 2.64531912e-01 1.48029795e-01 5.55378706e+01] [-2.61451293e-01 9.64376872e-01 -4.02550682e-02 -8.47479754e+00] [-1.53405261e-01 -3.41591201e-04 9.88163301e-01 -7.81554286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:-8.48, Z:-7.82 [[ 9.53490280e-01 2.62378062e-01 1.48371289e-01 5.55696249e+01] [-2.59253019e-01 9.64965156e-01 -4.03747492e-02 -8.48231581e+00] [-1.53766572e-01 3.12263374e-05 9.88107201e-01 -7.82094762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:-8.49, Z:-7.83 [[ 9.53986013e-01 2.60514657e-01 1.48468182e-01 5.56006044e+01] [-2.57358545e-01 9.65469825e-01 -4.04301355e-02 -8.49031240e+00] [-1.53874192e-01 3.60228610e-04 9.88090382e-01 -7.82626792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:-8.50, Z:-7.83 [[ 9.54833501e-01 2.57387583e-01 1.48474298e-01 5.56307054e+01] [-2.54190844e-01 9.66307847e-01 -4.04494777e-02 -8.49879687e+00] [-1.53883073e-01 8.81709197e-04 9.88088671e-01 -7.83189705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.66, Y:-8.51, Z:-7.84 [[ 9.55071215e-01 2.56513436e-01 1.48458179e-01 5.56620960e+01] [-2.53304264e-01 9.66540107e-01 -4.04619804e-02 -8.50690595e+00] [-1.53869826e-01 1.03898300e-03 9.88090582e-01 -7.83720600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:-8.52, Z:-7.84 [[ 9.55051751e-01 2.56590139e-01 1.48450847e-01 5.56939586e+01] [-2.53377710e-01 9.66519730e-01 -4.04888620e-02 -8.51573391e+00] [-1.53869715e-01 1.05482281e-03 9.88090582e-01 -7.84266979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:-8.52, Z:-7.85 [[ 9.55176684e-01 2.56278187e-01 1.48185672e-01 5.57260225e+01] [-2.53071841e-01 9.66602426e-01 -4.04276305e-02 -8.52367848e+00] [-1.53597350e-01 1.11390913e-03 9.88132892e-01 -7.84770458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:-8.53, Z:-7.85 [[ 9.55155067e-01 2.56251529e-01 1.48370992e-01 5.57565420e+01] [-2.53031984e-01 9.66609451e-01 -4.05090516e-02 -8.53165742e+00] [-1.53797310e-01 1.14981937e-03 9.88101749e-01 -7.85368205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.79, Y:-8.55, Z:-7.86 [[ 9.54902287e-01 2.55315683e-01 1.51576794e-01 5.57875287e+01] [-2.53109314e-01 9.66839794e-01 -3.40071801e-02 -8.54547925e+00] [-1.55233043e-01 -5.89196432e-03 9.87860308e-01 -7.85899705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.82, Y:-8.55, Z:-7.86 [[ 9.54776336e-01 2.58391918e-01 1.47091010e-01 5.58187081e+01] [-2.54019158e-01 9.66002206e-01 -4.81041074e-02 -8.54575539e+00] [-1.54519953e-01 8.56472884e-03 9.87952544e-01 -7.86482698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:-8.56, Z:-7.87 [[ 9.54704180e-01 2.58257464e-01 1.47793811e-01 5.58484265e+01] [-2.55077837e-01 9.66075725e-01 -4.04102818e-02 -8.55971578e+00] [-1.53216270e-01 8.80939370e-04 9.88192288e-01 -7.87097457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:-8.57, Z:-7.88 [[ 9.54450766e-01 2.59198516e-01 1.47783164e-01 5.58799544e+01] [-2.56028685e-01 9.65823783e-01 -4.04194659e-02 -8.56918624e+00] [-1.53209160e-01 7.41660963e-04 9.88193505e-01 -7.87669310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285871560000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.91, Y:-8.58, Z:-7.88 [[ 9.54242694e-01 2.60389855e-01 1.47030626e-01 5.59092635e+01] [-2.57261729e-01 9.65503387e-01 -4.02444144e-02 -8.57926776e+00] [-1.52437805e-01 5.77585262e-04 9.88312897e-01 -7.88367534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:-8.59, Z:-7.89 [[ 9.54003973e-01 2.61493545e-01 1.46620415e-01 5.59411996e+01] [-2.58391556e-01 9.65205130e-01 -4.01604390e-02 -8.58753216e+00] [-1.52020472e-01 4.27741081e-04 9.88377252e-01 -7.88770430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345871560000006 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:55.97, Y:-8.60, Z:-7.90 [[ 9.53625338e-01 2.62903498e-01 1.46562156e-01 5.59705747e+01] [-2.59815673e-01 9.64822106e-01 -4.01761086e-02 -8.59854865e+00] [-1.51968847e-01 2.33810025e-04 9.88385256e-01 -7.89571285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:-8.62, Z:-7.89 [[ 9.53732287e-01 2.61090672e-01 1.49085162e-01 5.60023453e+01] [-2.60110883e-01 9.65218244e-01 -2.63831306e-02 -8.61505687e+00] [-1.50788107e-01 -1.36162296e-02 9.88472329e-01 -7.89283232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:-8.61, Z:-7.90 [[ 9.52660307e-01 2.67722279e-01 1.44094136e-01 5.60348167e+01] [-2.62489328e-01 9.63392477e-01 -5.45370266e-02 -8.60813928e+00] [-1.53419984e-01 1.41320877e-02 9.88060015e-01 -7.90329382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:-8.63, Z:-7.91 [[ 9.52067538e-01 2.64713719e-01 1.53277687e-01 5.60619279e+01] [-2.63115608e-01 9.64266325e-01 -3.09940523e-02 -8.63074656e+00] [-1.56005062e-01 -1.08213206e-02 9.87696978e-01 -7.91097292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:-8.63, Z:-7.91 [[ 9.52072528e-01 2.69409195e-01 1.44832960e-01 5.60957438e+01] [-2.64728007e-01 9.62971169e-01 -5.10451774e-02 -8.62686136e+00] [-1.53222005e-01 1.02573701e-02 9.88138555e-01 -7.91411980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:-8.64, Z:-7.92 [[ 9.51992752e-01 2.68310962e-01 1.47373766e-01 5.61250272e+01] [-2.65239330e-01 9.63332201e-01 -4.04866483e-02 -8.64198424e+00] [-1.52832906e-01 -5.46323240e-04 9.88251893e-01 -7.92006413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:-8.65, Z:-7.93 [[ 9.51982997e-01 2.68335271e-01 1.47392522e-01 5.61560109e+01] [-2.65258441e-01 9.63325444e-01 -4.05221939e-02 -8.65175765e+00] [-1.52860501e-01 -5.20671066e-04 9.88247639e-01 -7.92553272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.19, Y:-8.66, Z:-7.93 [[ 9.52002652e-01 2.68345914e-01 1.47246126e-01 5.61864065e+01] [-2.65270676e-01 9.63322494e-01 -4.05122259e-02 -8.66208306e+00] [-1.52716796e-01 -4.92332752e-04 9.88269871e-01 -7.93262840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.22, Y:-8.67, Z:-7.94 [[ 9.52373556e-01 2.66969854e-01 1.47348930e-01 5.62171694e+01] [-2.63869188e-01 9.63704850e-01 -4.05710876e-02 -8.67303434e+00] [-1.52832135e-01 -2.42011351e-04 9.88252134e-01 -7.93781655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.25, Y:-8.68, Z:-7.94 [[ 9.52582193e-01 2.66173356e-01 1.47441209e-01 5.62472836e+01] [-2.63054507e-01 9.63925172e-01 -4.06274402e-02 -8.68323250e+00] [-1.52936235e-01 -8.40985897e-05 9.88236055e-01 -7.94337918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.28, Y:-8.69, Z:-7.95 [[ 9.52775096e-01 2.65064922e-01 1.48189758e-01 5.62792537e+01] [-2.61896328e-01 9.64230560e-01 -4.08624688e-02 -8.69211924e+00] [-1.53720301e-01 1.22389140e-04 9.88114393e-01 -7.94702936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:-8.70, Z:-7.95 [[ 9.53152078e-01 2.63624330e-01 1.48335193e-01 5.63099875e+01] [-2.60427244e-01 9.64625349e-01 -4.09339320e-02 -8.70228618e+00] [-1.53879067e-01 3.85736849e-04 9.88089613e-01 -7.95259603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.34, Y:-8.71, Z:-7.96 [[ 9.53295424e-01 2.63131723e-01 1.48288675e-01 5.63398610e+01] [-2.59925760e-01 9.64759789e-01 -4.09530120e-02 -8.71157272e+00] [-1.53838987e-01 4.96272400e-04 9.88095805e-01 -7.95752008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:-8.72, Z:-7.96 [[ 9.53304634e-01 2.62942458e-01 1.48564932e-01 5.63703796e+01] [-2.59719223e-01 9.64811362e-01 -4.10482669e-02 -8.72155212e+00] [-1.54130467e-01 5.46334251e-04 9.88050353e-01 -7.96227673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.40, Y:-8.73, Z:-7.97 [[ 9.53156235e-01 2.63250225e-01 1.48971508e-01 5.64012876e+01] [-2.60008532e-01 9.64727445e-01 -4.11888408e-02 -8.73318250e+00] [-1.54559874e-01 5.25537183e-04 9.87983284e-01 -7.96779356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:56.43, Y:-8.74, Z:-7.97 [[ 9.53131458e-01 2.63908502e-01 1.47961911e-01 5.64309238e+01] [-2.60714046e-01 9.64547616e-01 -4.09399789e-02 -8.74463529e+00] [-1.53520717e-01 4.45433316e-04 9.88145329e-01 -7.97484245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:-8.76, Z:-7.98 [[ 9.53127637e-01 2.62173056e-01 1.51039718e-01 5.64624331e+01] [-2.60553198e-01 9.64968848e-01 -3.07758643e-02 -8.75968595e+00] [-1.53817225e-01 -1.00205548e-02 9.88048506e-01 -7.97628108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:-8.77, Z:-7.97 [[ 9.53172650e-01 2.63816098e-01 1.47861307e-01 5.64922668e+01] [-2.62290311e-01 9.64520020e-01 -3.00819576e-02 -8.77167871e+00] [-1.50551295e-01 -1.01092890e-02 9.88550509e-01 -7.97477459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:-8.76, Z:-7.99 [[ 9.52316053e-01 2.70316233e-01 1.41503605e-01 5.65242788e+01] [-2.63966075e-01 9.62522170e-01 -6.22333013e-02 -8.76200467e+00] [-1.53023029e-01 2.19136206e-02 9.87979628e-01 -7.98914645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:56.55, Y:-8.79, Z:-8.00 [[ 9.52001806e-01 2.68564395e-01 1.46852742e-01 5.65510784e+01] [-2.65460386e-01 9.63261707e-01 -4.07144663e-02 -8.78621297e+00] [-1.52392078e-01 -2.23340020e-04 9.88320092e-01 -7.99740293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:-8.80, Z:-8.00 [[ 9.51137163e-01 2.71183689e-01 1.47639780e-01 5.65824947e+01] [-2.68072728e-01 9.62527416e-01 -4.09632262e-02 -8.79684382e+00] [-1.53215895e-01 -6.16551865e-04 9.88192547e-01 -8.00057467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:-8.81, Z:-8.01 [[ 9.50625853e-01 2.72843801e-01 1.47874096e-01 5.66131034e+01] [-2.69738086e-01 9.62057965e-01 -4.10589412e-02 -8.80663513e+00] [-1.53466129e-01 -8.55584545e-04 9.88153538e-01 -8.00572959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:-8.82, Z:-8.01 [[ 9.50051683e-01 2.74693660e-01 1.48139099e-01 5.66437494e+01] [-2.71594268e-01 9.61531136e-01 -4.11634448e-02 -8.81590613e+00] [-1.53747693e-01 -1.12632999e-03 9.88109497e-01 -8.01037601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035871560000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:56.67, Y:-8.83, Z:-8.02 [[ 9.49114100e-01 2.78084539e-01 1.47822240e-01 5.66738626e+01] [-2.75034874e-01 9.60555197e-01 -4.11039091e-02 -8.82767283e+00] [-1.53421783e-01 -1.64397158e-03 9.88159427e-01 -8.01753610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:-8.84, Z:-8.02 [[ 9.48593863e-01 2.79733215e-01 1.48050708e-01 5.67054547e+01] [-2.76689246e-01 9.60075924e-01 -4.11980694e-02 -8.83602023e+00] [-1.53664389e-01 -1.88380314e-03 9.88121302e-01 -8.02062860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:-8.84, Z:-8.03 [[ 9.48043205e-01 2.81551556e-01 1.48131032e-01 5.67362062e+01] [-2.78521435e-01 9.59543695e-01 -4.12517606e-02 -8.84482509e+00] [-1.53752695e-01 -2.14921621e-03 9.88107023e-01 -8.02624436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:-8.85, Z:-8.03 [[ 9.47104808e-01 2.85057426e-01 1.47427087e-01 5.67677458e+01] [-2.82095556e-01 9.58506673e-01 -4.10737731e-02 -8.85278106e+00] [-1.53018230e-01 -2.68735802e-03 9.88219712e-01 -8.03162612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:56.80, Y:-8.86, Z:-8.04 [[ 9.46784647e-01 2.86591454e-01 1.46506552e-01 5.67979260e+01] [-2.83680297e-01 9.58048537e-01 -4.08471413e-02 -8.86303409e+00] [-1.52066829e-01 -2.88757578e-03 9.88365996e-01 -8.03887492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:-8.87, Z:-8.04 [[ 9.46384652e-01 2.87570648e-01 1.47170694e-01 5.68293391e+01] [-2.84639970e-01 9.57754637e-01 -4.10626788e-02 -8.87086074e+00] [-1.52761835e-01 -3.02957282e-03 9.88258389e-01 -8.04252376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.86, Y:-8.88, Z:-8.05 [[ 9.45990944e-01 2.88751869e-01 1.47388914e-01 5.68607315e+01] [-2.85821957e-01 9.57398635e-01 -4.11541234e-02 -8.88075933e+00] [-1.52993275e-01 -3.19555979e-03 9.88222063e-01 -8.04764927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.89, Y:-8.89, Z:-8.05 [[ 9.45952617e-01 2.88753148e-01 1.47632196e-01 5.68905985e+01] [-2.85808519e-01 9.57398335e-01 -4.12543266e-02 -8.89009267e+00] [-1.53255135e-01 -3.16990099e-03 9.88181570e-01 -8.05286583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:-8.90, Z:-8.06 [[ 9.46100976e-01 2.88347103e-01 1.47475057e-01 5.69208494e+01] [-2.85400943e-01 9.57520990e-01 -4.12292982e-02 -8.89934061e+00] [-1.53098811e-01 -3.08244097e-03 9.88206078e-01 -8.05800386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.95, Y:-8.91, Z:-8.06 [[ 9.46489082e-01 2.87565799e-01 1.46507097e-01 5.69525027e+01] [-2.84644747e-01 9.57756467e-01 -4.09868083e-02 -8.90769217e+00] [-1.52104523e-01 -2.90890882e-03 9.88360133e-01 -8.06354527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.98, Y:-8.92, Z:-8.07 [[ 9.46436793e-01 2.87817791e-01 1.46349981e-01 5.69843291e+01] [-2.84901242e-01 9.57680749e-01 -4.09739708e-02 -8.91630437e+00] [-1.51949597e-01 -2.91601771e-03 9.88383942e-01 -8.06923219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:-8.92, Z:-8.07 [[ 9.46251133e-01 2.88118371e-01 1.46957806e-01 5.70148057e+01] [-2.85176100e-01 9.57590270e-01 -4.11760460e-02 -8.92397192e+00] [-1.52588941e-01 -2.94597375e-03 9.88285352e-01 -8.07343665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:-8.93, Z:-8.08 [[ 9.45742581e-01 2.89533686e-01 1.47449027e-01 5.70450696e+01] [-2.86584089e-01 9.57162621e-01 -4.13434130e-02 -8.93345688e+00] [-1.53103007e-01 -3.15631877e-03 9.88205195e-01 -8.07749240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425871560000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:57.08, Y:-8.94, Z:-8.08 [[ 9.45559913e-01 2.90472439e-01 1.46772656e-01 5.70766464e+01] [-2.87556904e-01 9.56877786e-01 -4.11816679e-02 -8.94234215e+00] [-1.52405633e-01 -3.26575621e-03 9.88312632e-01 -8.08346528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:-8.95, Z:-8.09 [[ 9.45166992e-01 2.91722500e-01 1.46824180e-01 5.71085013e+01] [-2.88815075e-01 9.56496817e-01 -4.12273183e-02 -8.94932360e+00] [-1.52463797e-01 -3.43833606e-03 9.88303075e-01 -8.08777533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:-8.96, Z:-8.09 [[ 9.44512618e-01 2.94194282e-01 1.46101468e-01 5.71389684e+01] [-2.91340157e-01 9.55738131e-01 -4.10552922e-02 -8.95646415e+00] [-1.51712976e-01 -3.78798309e-03 9.88417333e-01 -8.09338076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:-8.96, Z:-8.10 [[ 9.44229532e-01 2.95110300e-01 1.46083884e-01 5.71704011e+01] [-2.92263334e-01 9.55455204e-01 -4.10791426e-02 -8.96428157e+00] [-1.51699485e-01 -3.90682324e-03 9.88418941e-01 -8.09861740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:-8.97, Z:-8.10 [[ 9.43862556e-01 2.96238910e-01 1.46171078e-01 5.72021216e+01] [-2.93397533e-01 9.55105231e-01 -4.11325321e-02 -8.97179670e+00] [-1.51793817e-01 -4.06277670e-03 9.88403830e-01 -8.10408548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:-8.98, Z:-8.11 [[ 9.43576639e-01 2.97215998e-01 1.46033482e-01 5.72339285e+01] [-2.94387033e-01 9.54801089e-01 -4.11236565e-02 -8.97947921e+00] [-1.51655536e-01 -4.18704184e-03 9.88424538e-01 -8.10911467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:-8.99, Z:-8.11 [[ 9.42761082e-01 2.96957727e-01 1.51715689e-01 5.72620599e+01] [-2.95515524e-01 9.54785073e-01 -3.24967707e-02 -8.99037433e+00] [-1.54506042e-01 -1.41976505e-02 9.87889827e-01 -8.11483741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:-8.99, Z:-8.12 [[ 9.42791101e-01 3.00755286e-01 1.43844351e-01 5.72963906e+01] [-2.96496589e-01 9.53687465e-01 -5.06950840e-02 -8.98646164e+00] [-1.52429369e-01 5.14551479e-03 9.88300972e-01 -8.11817753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:-9.00, Z:-8.12 [[ 9.42735163e-01 2.99702949e-01 1.46384957e-01 5.73264153e+01] [-2.96880436e-01 9.54021776e-01 -4.12850690e-02 -8.99915306e+00] [-1.52027694e-01 -4.53794374e-03 9.88365817e-01 -8.12386975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:-9.00, Z:-8.13 [[ 9.42751405e-01 2.99689814e-01 1.46307224e-01 5.73580625e+01] [-2.96865401e-01 9.54026066e-01 -4.12940644e-02 -9.00449879e+00] [-1.51956316e-01 -4.50351573e-03 9.88376951e-01 -8.12867118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:57.39, Y:-9.01, Z:-8.14 [[ 9.42925776e-01 2.99465025e-01 1.45642299e-01 5.73888399e+01] [-2.96659326e-01 9.54097045e-01 -4.11348210e-02 -9.01250145e+00] [-1.51275327e-01 -4.41906326e-03 9.88481789e-01 -8.13511729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:-9.02, Z:-8.14 [[ 9.42524021e-01 2.96900397e-01 1.53292611e-01 5.74167165e+01] [-2.95937820e-01 9.54748619e-01 -2.95952959e-02 -9.02486378e+00] [-1.55142764e-01 -1.74708040e-02 9.87737563e-01 -8.14086779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:-9.02, Z:-8.14 [[ 9.42646041e-01 2.99580601e-01 1.47207016e-01 5.74492729e+01] [-2.95894762e-01 9.54070801e-01 -4.68529181e-02 -9.02036846e+00] [-1.54482141e-01 6.07932810e-04 9.87995394e-01 -8.14461528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.48, Y:-9.02, Z:-8.15 [[ 9.42988860e-01 3.00038551e-01 1.44044705e-01 5.74780801e+01] [-2.95942528e-01 9.53918161e-01 -4.95798508e-02 -9.02199669e+00] [-1.52282727e-01 4.12429272e-03 9.88328367e-01 -8.14790424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:-9.03, Z:-8.15 [[ 9.43128799e-01 2.98446024e-01 1.46417344e-01 5.75053972e+01] [-2.95591402e-01 9.54417109e-01 -4.13969226e-02 -9.03279839e+00] [-1.52097965e-01 -4.23707812e-03 9.88356341e-01 -8.15358460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.54, Y:-9.04, Z:-8.16 [[ 9.43370662e-01 2.97479292e-01 1.46825965e-01 5.75354776e+01] [-2.94597627e-01 9.54719481e-01 -4.15084429e-02 -9.03760797e+00] [-1.52525511e-01 -4.09673360e-03 9.88291043e-01 -8.15831978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:57.56, Y:-9.04, Z:-8.16 [[ 9.43711102e-01 2.96553689e-01 1.46510295e-01 5.75630995e+01] [-2.93673354e-01 9.55008063e-01 -4.14193415e-02 -9.04476514e+00] [-1.52201571e-01 -3.93827718e-03 9.88341627e-01 -8.16415675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.59, Y:-9.06, Z:-8.16 [[ 9.44298828e-01 2.93476307e-01 1.48900571e-01 5.75919109e+01] [-2.93174201e-01 9.55745657e-01 -2.44770770e-02 -9.06068511e+00] [-1.49494517e-01 -2.05401310e-02 9.88549186e-01 -8.16083616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:-9.05, Z:-8.17 [[ 9.44566929e-01 2.96094674e-01 1.41849432e-01 5.76266739e+01] [-2.90757961e-01 9.55069701e-01 -5.74602013e-02 -9.04799330e+00] [-1.52489754e-01 1.30311542e-02 9.88219138e-01 -8.17234943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:-9.07, Z:-8.18 [[ 9.44674462e-01 2.93519867e-01 1.46411234e-01 5.76532929e+01] [-2.90603094e-01 9.55946853e-01 -4.14180733e-02 -9.06564963e+00] [-1.52118385e-01 -3.42096142e-03 9.88356360e-01 -8.17840937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025871560000006 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:57.68, Y:-9.07, Z:-8.18 [[ 9.45529025e-01 2.91271719e-01 1.45381045e-01 5.76816150e+01] [-2.88369330e-01 9.56635549e-01 -4.11285328e-02 -9.07357843e+00] [-1.51056254e-01 -3.03521314e-03 9.88520508e-01 -8.18438678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:-9.08, Z:-8.19 [[ 9.45934276e-01 2.89607026e-01 1.46068876e-01 5.77109666e+01] [-2.86656923e-01 9.57141598e-01 -4.13251800e-02 -9.08007860e+00] [-1.51776660e-01 -2.78075035e-03 9.88410903e-01 -8.18842955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:-9.09, Z:-8.19 [[ 9.46488314e-01 2.87725518e-01 1.46198143e-01 5.77416502e+01] [-2.84748163e-01 9.57709695e-01 -4.13596830e-02 -9.08826294e+00] [-1.51915615e-01 -2.48319598e-03 9.88390348e-01 -8.19378777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:-9.10, Z:-8.20 [[ 9.47366461e-01 2.84771315e-01 1.46294522e-01 5.77719956e+01] [-2.81750797e-01 9.58593428e-01 -4.14141029e-02 -9.09528648e+00] [-1.52030516e-01 -1.98426617e-03 9.88373808e-01 -8.19773851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.80, Y:-9.10, Z:-8.20 [[ 9.47621063e-01 2.83836507e-01 1.46462137e-01 5.78012931e+01] [-2.80793820e-01 9.58870982e-01 -4.14882086e-02 -9.10246027e+00] [-1.52214161e-01 -1.81056252e-03 9.88345876e-01 -8.20287819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:-9.11, Z:-8.21 [[ 9.47840185e-01 2.83244072e-01 1.46190899e-01 5.78316623e+01] [-2.80205703e-01 9.59046330e-01 -4.14113493e-02 -9.11006554e+00] [-1.51933365e-01 -1.71218275e-03 9.88389256e-01 -8.20804755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:-9.12, Z:-8.21 [[ 9.47904793e-01 2.83235217e-01 1.45788599e-01 5.78608835e+01] [-2.80209446e-01 9.59049003e-01 -4.13240474e-02 -9.11855821e+00] [-1.51522836e-01 -1.68008015e-03 9.88452329e-01 -8.21430251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:-9.13, Z:-8.22 [[ 9.48115302e-01 2.82926721e-01 1.45016706e-01 5.78900978e+01] [-2.79925470e-01 9.59140200e-01 -4.11316020e-02 -9.12665736e+00] [-1.50728581e-01 -1.59636835e-03 9.88573895e-01 -8.21940575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:-9.13, Z:-8.22 [[ 9.48466897e-01 2.82264561e-01 1.44004385e-01 5.79197493e+01] [-2.79297748e-01 9.59335460e-01 -4.08441306e-02 -9.13446199e+00] [-1.49677364e-01 -1.48079481e-03 9.88733783e-01 -8.22457304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:-9.14, Z:-8.23 [[ 9.48653139e-01 2.81711860e-01 1.43859826e-01 5.79498880e+01] [-2.78744155e-01 9.59498046e-01 -4.08068174e-02 -9.14199969e+00] [-1.49528986e-01 -1.38857008e-03 9.88756367e-01 -8.22970459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:-9.15, Z:-8.23 [[ 9.48785295e-01 2.81474867e-01 1.43451607e-01 5.79816160e+01] [-2.78521213e-01 9.59567656e-01 -4.06920959e-02 -9.15042995e+00] [-1.49105324e-01 -1.34625326e-03 9.88820403e-01 -8.23477950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355871560000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:58.01, Y:-9.16, Z:-8.24 [[ 9.49027389e-01 2.81057376e-01 1.42666629e-01 5.80125460e+01] [-2.78126894e-01 9.59690160e-01 -4.04997195e-02 -9.15843715e+00] [-1.48298505e-01 -1.24408334e-03 9.88941862e-01 -8.24021585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:-9.18, Z:-8.25 [[ 9.48127869e-01 2.78740937e-01 1.52830083e-01 5.80381831e+01] [-2.78289613e-01 9.60177585e-01 -2.47769431e-02 -9.17510341e+00] [-1.53650368e-01 -1.90393143e-02 9.87941835e-01 -8.24798783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:-9.16, Z:-8.25 [[ 9.48183923e-01 2.85379961e-01 1.39662188e-01 5.80744910e+01] [-2.79851956e-01 9.58279867e-01 -5.81599467e-02 -9.16349256e+00] [-1.50433147e-01 1.60615897e-02 9.88489703e-01 -8.24848243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.10, Y:-9.18, Z:-8.25 [[ 9.47733794e-01 2.83967359e-01 1.45475755e-01 5.81000126e+01] [-2.80946809e-01 9.58832460e-01 -4.13425276e-02 -9.17983244e+00] [-1.51226804e-01 -1.68923870e-03 9.88497648e-01 -8.25457759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:-9.19, Z:-8.26 [[ 9.47293869e-01 2.85184005e-01 1.45960301e-01 5.81307886e+01] [-2.82158194e-01 9.58470916e-01 -4.14759861e-02 -9.18670035e+00] [-1.51726991e-01 -1.89394758e-03 9.88420626e-01 -8.25873803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:-9.19, Z:-8.26 [[ 9.46957456e-01 2.86149298e-01 1.46253737e-01 5.81621065e+01] [-2.83118464e-01 9.58182902e-01 -4.15867932e-02 -9.19426087e+00] [-1.52037862e-01 -2.02620954e-03 9.88372593e-01 -8.26435203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.19, Y:-9.20, Z:-8.27 [[ 9.46733176e-01 2.86899463e-01 1.46236082e-01 5.81918401e+01] [-2.83873969e-01 9.57958353e-01 -4.16096504e-02 -9.20126957e+00] [-1.52025863e-01 -2.11938057e-03 9.88374244e-01 -8.26912278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.22, Y:-9.21, Z:-8.27 [[ 9.46588571e-01 2.87612473e-01 1.45770855e-01 5.82196691e+01] [-2.84610443e-01 9.57744343e-01 -4.15050498e-02 -9.20652777e+00] [-1.51548582e-01 -2.19970197e-03 9.88447363e-01 -8.27380188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:-9.21, Z:-8.28 [[ 9.46585685e-01 2.87646294e-01 1.45722853e-01 5.82477384e+01] [-2.84647225e-01 9.57734167e-01 -4.14876278e-02 -9.21308988e+00] [-1.51497518e-01 -2.20801127e-03 9.88455172e-01 -8.27820569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:-9.22, Z:-8.28 [[ 9.46541898e-01 2.87675616e-01 1.45949224e-01 5.82756061e+01] [-2.84668667e-01 9.57725324e-01 -4.15446020e-02 -9.21935636e+00] [-1.51730637e-01 -2.22346456e-03 9.88419380e-01 -8.28321863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:-9.22, Z:-8.29 [[ 9.46450594e-01 2.88113460e-01 1.45677408e-01 5.83034379e+01] [-2.85124049e-01 9.57593526e-01 -4.14598153e-02 -9.22399279e+00] [-1.51444874e-01 -2.29646562e-03 9.88463038e-01 -8.28725435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:58.33, Y:-9.23, Z:-8.29 [[ 9.46538813e-01 2.88131169e-01 1.45067932e-01 5.83312185e+01] [-2.85168508e-01 9.57588192e-01 -4.12768240e-02 -9.23083778e+00] [-1.50808478e-01 -2.29868967e-03 9.88560326e-01 -8.29270755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:-9.24, Z:-8.30 [[ 9.45799042e-01 2.89909998e-01 1.46343313e-01 5.83601006e+01] [-2.86917070e-01 9.57050347e-01 -4.16320618e-02 -9.23518893e+00] [-1.52127470e-01 -2.61283059e-03 9.88357428e-01 -8.29672805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:-9.24, Z:-8.30 [[ 9.45592434e-01 2.90782775e-01 1.45946314e-01 5.83870921e+01] [-2.87817623e-01 9.56785138e-01 -4.15116348e-02 -9.24053998e+00] [-1.51710133e-01 -2.75283360e-03 9.88421194e-01 -8.30127616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:-9.25, Z:-8.31 [[ 9.45283354e-01 2.91936538e-01 1.45644903e-01 5.84152291e+01] [-2.88998769e-01 9.56433169e-01 -4.14162257e-02 -9.24608196e+00] [-1.51390526e-01 -2.94112897e-03 9.88469655e-01 -8.30657627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:-9.25, Z:-8.31 [[ 9.45026764e-01 2.92832096e-01 1.45512125e-01 5.84421161e+01] [-2.89911407e-01 9.56158890e-01 -4.13709357e-02 -9.25118972e+00] [-1.51247450e-01 -3.08898346e-03 9.88491106e-01 -8.31129305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.47, Y:-9.25, Z:-8.32 [[ 9.44501896e-01 2.94167624e-01 1.46224409e-01 5.84693669e+01] [-2.91235473e-01 9.55748048e-01 -4.15640344e-02 -9.25345225e+00] [-1.51980487e-01 -3.32842558e-03 9.88377890e-01 -8.31556406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:-9.26, Z:-8.32 [[ 9.44442241e-01 2.94294341e-01 1.46354687e-01 5.84965123e+01] [-2.91360493e-01 9.55708909e-01 -4.15877814e-02 -9.25738303e+00] [-1.52111527e-01 -3.36471618e-03 9.88357608e-01 -8.31971502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:-9.26, Z:-8.32 [[ 9.44398715e-01 2.94273363e-01 1.46677383e-01 5.85244230e+01] [-2.91328008e-01 9.55715315e-01 -4.16680732e-02 -9.26157999e+00] [-1.52443625e-01 -3.37995490e-03 9.88306388e-01 -8.32445141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:-9.26, Z:-8.33 [[ 9.44726118e-01 2.93257797e-01 1.46602958e-01 5.85525225e+01] [-2.90305045e-01 9.56027961e-01 -4.16355550e-02 -9.26397137e+00] [-1.52366478e-01 -3.22538209e-03 9.88318801e-01 -8.32885148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:-9.27, Z:-8.33 [[ 9.45058446e-01 2.92272278e-01 1.46428989e-01 5.85797424e+01] [-2.89316573e-01 9.56330208e-01 -4.15746756e-02 -9.26925277e+00] [-1.52185591e-01 -3.07383514e-03 9.88347154e-01 -8.33310664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.61, Y:-9.27, Z:-8.34 [[ 9.45489166e-01 2.90964345e-01 1.46253161e-01 5.86058419e+01] [-2.88001953e-01 9.56729590e-01 -4.15134446e-02 -9.27368730e+00] [-1.52003659e-01 -2.87068393e-03 9.88375762e-01 -8.33740781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:-9.28, Z:-8.34 [[ 9.46442703e-01 2.87833990e-01 1.46279883e-01 5.86329040e+01] [-2.84835367e-01 9.57677360e-01 -4.15076961e-02 -9.27631143e+00] [-1.52036258e-01 -2.38102808e-03 9.88372049e-01 -8.34227554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:-9.28, Z:-8.35 [[ 9.47142050e-01 2.85878235e-01 1.45586990e-01 5.86600361e+01] [-2.82887112e-01 9.58263717e-01 -4.12980665e-02 -9.28118281e+00] [-1.51316949e-01 -2.06954789e-03 9.88483130e-01 -8.34675687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:-9.29, Z:-8.35 [[ 9.47739847e-01 2.83968542e-01 1.45434004e-01 5.86872502e+01] [-2.80963171e-01 9.58831956e-01 -4.12429001e-02 -9.28576779e+00] [-1.51158457e-01 -1.77405915e-03 9.88507953e-01 -8.35181650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105871560000004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:58.71, Y:-9.29, Z:-8.36 [[ 9.48526052e-01 2.81789562e-01 1.44544010e-01 5.87136289e+01] [-2.78797332e-01 9.59475173e-01 -4.09809827e-02 -9.29109812e+00] [-1.50234402e-01 -1.42695462e-03 9.88649376e-01 -8.35726108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:-9.30, Z:-8.36 [[ 9.49310641e-01 2.78364461e-01 1.46022375e-01 5.87412337e+01] [-2.75271495e-01 9.60475097e-01 -4.13907346e-02 -9.29548462e+00] [-1.51772564e-01 -9.03132825e-04 9.88415031e-01 -8.36138288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.77, Y:-9.30, Z:-8.37 [[ 9.49869871e-01 2.76342249e-01 1.46226501e-01 5.87677449e+01] [-2.73218441e-01 9.61059109e-01 -4.14375679e-02 -9.30095257e+00] [-1.51983261e-01 -5.91479285e-04 9.88382891e-01 -8.36567429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:-9.31, Z:-8.37 [[ 9.50417965e-01 2.74325948e-01 1.46461482e-01 5.87958454e+01] [-2.71170849e-01 9.61636726e-01 -4.14870845e-02 -9.30678357e+00] [-1.52223724e-01 -2.86013969e-04 9.88346020e-01 -8.37026707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.82, Y:-9.31, Z:-8.37 [[ 9.51778283e-01 2.69413696e-01 1.46745901e-01 5.88235152e+01] [-2.66189311e-01 9.63024411e-01 -4.15600077e-02 -9.31128572e+00] [-1.52516721e-01 4.93722428e-04 9.88300767e-01 -8.37486232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:-9.32, Z:-8.38 [[ 9.52490172e-01 2.66877364e-01 1.46761525e-01 5.88513533e+01] [-2.63623843e-01 9.63730086e-01 -4.15546611e-02 -9.31806282e+00] [-1.52528495e-01 8.90569072e-04 9.88298672e-01 -8.37941292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:-9.32, Z:-8.38 [[ 9.53092369e-01 2.64582691e-01 1.47006586e-01 5.88790717e+01] [-2.61292245e-01 9.64362188e-01 -4.16164915e-02 -9.32496909e+00] [-1.52778597e-01 1.25267950e-03 9.88259648e-01 -8.38465272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:-9.33, Z:-8.39 [[ 9.53774506e-01 2.62252586e-01 1.46757530e-01 5.89065190e+01] [-2.58947077e-01 9.64997912e-01 -4.15384290e-02 -9.33181459e+00] [-1.52514271e-01 1.61586109e-03 9.88299947e-01 -8.38920559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:-9.34, Z:-8.39 [[ 9.54912427e-01 2.58216337e-01 1.46514775e-01 5.89359077e+01] [-2.54875801e-01 9.66084502e-01 -4.14615633e-02 -9.33932461e+00] [-1.52251706e-01 2.24909143e-03 9.88339193e-01 -8.39420867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:-9.35, Z:-8.40 [[ 9.55277385e-01 2.56783649e-01 1.46653587e-01 5.89635608e+01] [-2.53419977e-01 9.66465731e-01 -4.15006809e-02 -9.34681466e+00] [-1.52392363e-01 2.47971324e-03 9.88316963e-01 -8.39927222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:-9.35, Z:-8.40 [[ 9.55607654e-01 2.55587958e-01 1.46590610e-01 5.89922614e+01] [-2.52212805e-01 9.66782115e-01 -4.14854631e-02 -9.35478806e+00] [-1.52324364e-01 2.67179725e-03 9.88326945e-01 -8.40382947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:-9.36, Z:-8.41 [[ 9.56116608e-01 2.53697335e-01 1.46556115e-01 5.90209088e+01] [-2.50302310e-01 9.67279097e-01 -4.14717112e-02 -9.36276911e+00] [-1.52281929e-01 2.96845752e-03 9.88332637e-01 -8.40884194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.05, Y:-9.37, Z:-8.41 [[ 9.56290430e-01 2.53125354e-01 1.46410957e-01 5.90490429e+01] [-2.49730458e-01 9.67428661e-01 -4.14304702e-02 -9.37033490e+00] [-1.52129258e-01 3.05628692e-03 9.88355881e-01 -8.41329098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:-9.38, Z:-8.42 [[ 9.56436188e-01 2.52655039e-01 1.46271147e-01 5.90779531e+01] [-2.49260851e-01 9.67551359e-01 -4.13931835e-02 -9.37786179e+00] [-1.51983044e-01 3.13026806e-03 9.88378144e-01 -8.41864351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525871560000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.11, Y:-9.39, Z:-8.42 [[ 9.56673605e-01 2.51984611e-01 1.45874500e-01 5.91070149e+01] [-2.48601181e-01 9.67725859e-01 -4.12809366e-02 -9.38548576e+00] [-1.51568687e-01 3.22780948e-03 9.88441457e-01 -8.42369460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.13, Y:-9.39, Z:-8.43 [[ 9.56629816e-01 2.51504225e-01 1.46986464e-01 5.91347107e+01] [-2.48063009e-01 9.67850473e-01 -4.15957481e-02 -9.39410479e+00] [-1.52722425e-01 3.32982821e-03 9.88263514e-01 -8.42794309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.16, Y:-9.40, Z:-8.43 [[ 9.56758339e-01 2.51061812e-01 1.46906254e-01 5.91643214e+01] [-2.47619547e-01 9.67965098e-01 -4.15707651e-02 -9.40327234e+00] [-1.52636958e-01 3.39631617e-03 9.88276492e-01 -8.43317061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:-9.41, Z:-8.44 [[ 9.56861409e-01 2.50591456e-01 1.47037973e-01 5.91936665e+01] [-2.47137101e-01 9.68086687e-01 -4.16103273e-02 -9.41248688e+00] [-1.52772697e-01 3.47677812e-03 9.88255238e-01 -8.43864144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.22, Y:-9.42, Z:-8.44 [[ 9.57264476e-01 2.48904066e-01 1.47280307e-01 5.92227765e+01] [-2.45414319e-01 9.68520775e-01 -4.17051686e-02 -9.42360686e+00] [-1.53024623e-01 3.77818020e-03 9.88215154e-01 -8.44386557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.25, Y:-9.43, Z:-8.45 [[ 9.57505280e-01 2.47952765e-01 1.47319604e-01 5.92534215e+01] [-2.44449675e-01 9.68764139e-01 -4.17180898e-02 -9.43429121e+00] [-1.53062065e-01 3.93306199e-03 9.88208751e-01 -8.44942356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705871560000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.28, Y:-9.45, Z:-8.46 [[ 9.57994888e-01 2.46700304e-01 1.46235269e-01 5.92841188e+01] [-2.43229792e-01 9.69083014e-01 -4.14412778e-02 -9.44531871e+00] [-1.51937691e-01 4.13175817e-03 9.88381438e-01 -8.45502550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:-9.46, Z:-8.46 [[ 9.57926386e-01 2.46303208e-01 1.47349137e-01 5.93128184e+01] [-2.42769681e-01 9.69183468e-01 -4.17885976e-02 -9.45832806e+00] [-1.53101013e-01 4.25849731e-03 9.88201369e-01 -8.46010402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.34, Y:-9.47, Z:-8.47 [[ 9.57928286e-01 2.46430376e-01 1.47123992e-01 5.93433956e+01] [-2.42906397e-01 9.69151182e-01 -4.17428974e-02 -9.46934551e+00] [-1.52872108e-01 4.24934339e-03 9.88236845e-01 -8.46504077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:-9.48, Z:-8.47 [[ 9.57778254e-01 2.47037971e-01 1.47081803e-01 5.93735118e+01] [-2.43518344e-01 9.68996778e-01 -4.17619567e-02 -9.47990509e+00] [-1.52838582e-01 4.18157685e-03 9.88242320e-01 -8.47089999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:-9.49, Z:-8.48 [[ 9.57470652e-01 2.48400137e-01 1.46790064e-01 5.94041163e+01] [-2.44906026e-01 9.68649316e-01 -4.17077989e-02 -9.49282808e+00] [-1.52548318e-01 3.98422217e-03 9.88287983e-01 -8.47643197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855871560000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.44, Y:-9.50, Z:-8.48 [[ 9.57267190e-01 2.49291034e-01 1.46606643e-01 5.94350501e+01] [-2.45811470e-01 9.68420895e-01 -4.16856340e-02 -9.50442799e+00] [-1.52368791e-01 3.86669531e-03 9.88316144e-01 -8.48173837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885871560000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.47, Y:-9.51, Z:-8.49 [[ 9.57246376e-01 2.49375869e-01 1.46598262e-01 5.94668207e+01] [-2.45892787e-01 9.68398982e-01 -4.17150856e-02 -9.51358590e+00] [-1.52368344e-01 3.88415925e-03 9.88316144e-01 -8.48723249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.50, Y:-9.53, Z:-8.49 [[ 9.56960025e-01 2.50530535e-01 1.46499018e-01 5.94969758e+01] [-2.47063777e-01 9.68101591e-01 -4.16989257e-02 -9.52522899e+00] [-1.52272786e-01 3.70960436e-03 9.88331542e-01 -8.49263214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:-9.54, Z:-8.50 [[ 9.56295929e-01 2.53302549e-01 1.46068183e-01 5.95259447e+01] [-2.49883688e-01 9.67381520e-01 -4.16069478e-02 -9.53885096e+00] [-1.51842807e-01 3.28849867e-03 9.88399184e-01 -8.49747882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:-9.55, Z:-8.50 [[ 9.55861220e-01 2.55146370e-01 1.45704009e-01 5.95561939e+01] [-2.51761572e-01 9.66897738e-01 -4.15316241e-02 -9.54985275e+00] [-1.51477520e-01 3.01579850e-03 9.88456102e-01 -8.50293448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.59, Y:-9.56, Z:-8.51 [[ 9.55395689e-01 2.57273102e-01 1.45015959e-01 5.95862979e+01] [-2.53940248e-01 9.66334978e-01 -4.13649612e-02 -9.56104056e+00] [-1.50776086e-01 2.69451689e-03 9.88564268e-01 -8.50874722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035871560000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.62, Y:-9.57, Z:-8.51 [[ 9.54006836e-01 2.62658470e-01 1.44504273e-01 5.96169608e+01] [-2.59405843e-01 9.64887061e-01 -4.12500700e-02 -9.57310177e+00] [-1.50264984e-01 1.86759589e-03 9.88643994e-01 -8.51383355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:-9.58, Z:-8.52 [[ 9.53102043e-01 2.65902736e-01 1.44541449e-01 5.96474697e+01] [-2.62683664e-01 9.63998891e-01 -4.12726272e-02 -9.58234596e+00] [-1.50312301e-01 1.36834774e-03 9.88637618e-01 -8.51842333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095871560000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.68, Y:-9.59, Z:-8.52 [[ 9.52372290e-01 2.68941068e-01 1.43727946e-01 5.96756967e+01] [-2.65788382e-01 9.63156202e-01 -4.10690371e-02 -9.59112286e+00] [-1.49477613e-01 9.11794735e-04 9.88764690e-01 -8.52391152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.70, Y:-9.60, Z:-8.53 [[ 9.51381629e-01 2.72202941e-01 1.44147682e-01 5.97046105e+01] [-2.69068580e-01 9.62239781e-01 -4.11910463e-02 -9.59915257e+00] [-1.49916958e-01 4.02792659e-04 9.88698510e-01 -8.52834831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:-9.61, Z:-8.53 [[ 9.49473352e-01 2.78086158e-01 1.45493792e-01 5.97319102e+01] [-2.74961111e-01 9.60555989e-01 -4.15761835e-02 -9.60754926e+00] [-1.51316694e-01 -5.29656301e-04 9.88485193e-01 -8.53266049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:-9.62, Z:-8.54 [[ 9.48692983e-01 2.80402729e-01 1.46136695e-01 5.97596481e+01] [-2.77278012e-01 9.59882016e-01 -4.17542793e-02 -9.61573332e+00] [-1.51981999e-01 -9.08500311e-04 9.88382844e-01 -8.53743031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:-9.62, Z:-8.54 [[ 9.48143358e-01 2.81999632e-01 1.46630076e-01 5.97866831e+01] [-2.78873784e-01 9.59413793e-01 -4.18877958e-02 -9.62306396e+00] [-1.52491260e-01 -1.17564874e-03 9.88304120e-01 -8.54199386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:-9.63, Z:-8.55 [[ 9.47691009e-01 2.83292804e-01 1.47061005e-01 5.98126469e+01] [-2.80165055e-01 9.59032451e-01 -4.20035768e-02 -9.63057100e+00] [-1.52935587e-01 -1.39494248e-03 9.88235175e-01 -8.54619997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:-9.64, Z:-8.55 [[ 9.47352264e-01 2.84336587e-01 1.47229054e-01 5.98395773e+01] [-2.81215703e-01 9.58723227e-01 -4.20416819e-02 -9.63868999e+00] [-1.53105902e-01 -1.57483934e-03 9.88208532e-01 -8.55111949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:-9.65, Z:-8.56 [[ 9.47470167e-01 2.84097732e-01 1.46931144e-01 5.98661920e+01] [-2.80987863e-01 9.58794089e-01 -4.19489649e-02 -9.64643053e+00] [-1.52794318e-01 -1.54047537e-03 9.88256810e-01 -8.55575863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:-9.65, Z:-8.56 [[ 9.47812586e-01 2.83343182e-01 1.46177782e-01 5.98934972e+01] [-2.80257876e-01 9.59017530e-01 -4.17240963e-02 -9.65483542e+00] [-1.52009293e-01 -1.42085105e-03 9.88378043e-01 -8.56108595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:-9.66, Z:-8.57 [[ 9.48652735e-01 2.81120818e-01 1.45014045e-01 5.99197132e+01] [-2.78059986e-01 9.59671796e-01 -4.13846441e-02 -9.66350783e+00] [-1.50799974e-01 -1.06294734e-03 9.88563725e-01 -8.56668197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:-9.67, Z:-8.57 [[ 9.49166727e-01 2.79536822e-01 1.44712437e-01 5.99473618e+01] [-2.76472119e-01 9.60134622e-01 -4.12877092e-02 -9.67171288e+00] [-1.50484856e-01 -8.20034194e-04 9.88611974e-01 -8.57186354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:-9.68, Z:-8.58 [[ 9.50143294e-01 2.76494336e-01 1.44147853e-01 5.99739507e+01] [-2.73419938e-01 9.61015486e-01 -4.11190126e-02 -9.68071378e+00] [-1.49897493e-01 -3.43942858e-04 9.88701483e-01 -8.57674533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:-9.69, Z:-8.58 [[ 9.50637801e-01 2.74950911e-01 1.43839384e-01 6.00025041e+01] [-2.71873075e-01 9.61458260e-01 -4.10249427e-02 -9.68971734e+00] [-1.49575409e-01 -1.06194266e-04 9.88750315e-01 -8.58116185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:-9.70, Z:-8.59 [[ 9.50933142e-01 2.73795137e-01 1.44091576e-01 6.00311509e+01] [-2.70693366e-01 9.61788031e-01 -4.10960401e-02 -9.69914685e+00] [-1.49837449e-01 7.49528801e-05 9.88710642e-01 -8.58651689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:-9.71, Z:-8.59 [[ 9.51068427e-01 2.72966109e-01 1.44769993e-01 6.00584290e+01] [-2.69823792e-01 9.62023626e-01 -4.12996908e-02 -9.70774992e+00] [-1.50545570e-01 2.16443492e-04 9.88603047e-01 -8.59136525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:-9.72, Z:-8.60 [[ 9.51116955e-01 2.72373597e-01 1.45564973e-01 6.00861006e+01] [-2.69190457e-01 9.62191525e-01 -4.15206919e-02 -9.71604438e+00] [-1.51370524e-01 3.06332399e-04 9.88477046e-01 -8.59565788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:-9.72, Z:-8.60 [[ 9.51024307e-01 2.72517224e-01 1.45901100e-01 6.01149224e+01] [-2.69321576e-01 9.62150864e-01 -4.16125505e-02 -9.72481785e+00] [-1.51719006e-01 2.80232670e-04 9.88423626e-01 -8.60030977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:-9.73, Z:-8.61 [[ 9.50947508e-01 2.72888651e-01 1.45707313e-01 6.01447027e+01] [-2.69705919e-01 9.62045600e-01 -4.15569664e-02 -9.73374091e+00] [-1.51517504e-01 2.20368800e-04 9.88454550e-01 -8.60582117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635871560000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.17, Y:-9.74, Z:-8.61 [[ 9.50797035e-01 2.73570249e-01 1.45410856e-01 6.01731119e+01] [-2.70407850e-01 9.61852019e-01 -4.14763652e-02 -9.74251646e+00] [-1.51210425e-01 1.15368116e-04 9.88501590e-01 -8.61164388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:-9.75, Z:-8.62 [[ 9.50391906e-01 2.74956843e-01 1.45444006e-01 6.02025474e+01] [-2.71808841e-01 9.61456564e-01 -4.14877132e-02 -9.75059615e+00] [-1.51245425e-01 -1.03379812e-04 9.88496237e-01 -8.61638346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:60.23, Y:-9.76, Z:-8.62 [[ 9.50265185e-01 2.75496678e-01 1.45250328e-01 6.02312093e+01] [-2.72363059e-01 9.61302005e-01 -4.14345113e-02 -9.75966724e+00] [-1.51044502e-01 -1.87050015e-04 9.88526946e-01 -8.62330921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:-9.77, Z:-8.63 [[ 9.50187119e-01 2.75655129e-01 1.45460266e-01 6.02606445e+01] [-2.72514238e-01 9.61256576e-01 -4.14943988e-02 -9.76828965e+00] [-1.51262781e-01 -2.12550224e-04 9.88493564e-01 -8.62728492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:-9.78, Z:-8.63 [[ 9.50114160e-01 2.75843781e-01 1.45579161e-01 6.02886363e+01] [-2.72699953e-01 9.61202450e-01 -4.15281381e-02 -9.77709573e+00] [-1.51386324e-01 -2.42958203e-04 9.88474644e-01 -8.63198454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:-9.79, Z:-8.64 [[ 9.50085994e-01 2.75799927e-01 1.45845823e-01 6.03163471e+01] [-2.72643591e-01 9.61215036e-01 -4.16068144e-02 -9.78524262e+00] [-1.51664355e-01 -2.33877395e-04 9.88432025e-01 -8.63686040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:-9.79, Z:-8.64 [[ 9.50020551e-01 2.75865949e-01 1.46146948e-01 6.03441806e+01] [-2.72697843e-01 9.61196086e-01 -4.16889650e-02 -9.79333329e+00] [-1.51976440e-01 -2.48584012e-04 9.88384085e-01 -8.64180876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:-9.80, Z:-8.65 [[ 9.50336495e-01 2.74836753e-01 1.46031861e-01 6.03727613e+01] [-2.71662203e-01 9.61490900e-01 -4.16520838e-02 -9.80191781e+00] [-1.51855829e-01 -8.78418049e-05 9.88402650e-01 -8.64629406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:60.40, Y:-9.81, Z:-8.65 [[ 9.50428630e-01 2.74393744e-01 1.46265145e-01 6.04012970e+01] [-2.71203877e-01 9.61617425e-01 -4.17179131e-02 -9.81116644e+00] [-1.52098247e-01 -1.77755214e-05 9.88365379e-01 -8.65318653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:60.43, Y:-9.82, Z:-8.66 [[ 9.50574706e-01 2.73837615e-01 1.46358086e-01 6.04305359e+01] [-2.70635610e-01 9.61775938e-01 -4.17541892e-02 -9.82027477e+00] [-1.52197553e-01 8.07663683e-05 9.88350089e-01 -8.65798126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.46, Y:-9.83, Z:-8.66 [[ 9.50806793e-01 2.72863697e-01 1.46669168e-01 6.04588614e+01] [-2.69636441e-01 9.62052674e-01 -4.18430785e-02 -9.82875872e+00] [-1.52520922e-01 2.37330910e-04 9.88300213e-01 -8.66135581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:-9.84, Z:-8.67 [[ 9.51109040e-01 2.71992370e-01 1.46327526e-01 6.04878749e+01] [-2.68770320e-01 9.62299335e-01 -4.17433080e-02 -9.83898854e+00] [-1.52164742e-01 3.73941553e-04 9.88355074e-01 -8.66601794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.52, Y:-9.85, Z:-8.67 [[ 9.51081591e-01 2.72179704e-01 1.46157504e-01 6.05188348e+01] [-2.68967134e-01 9.62246377e-01 -4.16964193e-02 -9.84846561e+00] [-1.51988448e-01 3.45131748e-04 9.88382210e-01 -8.67104988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:-9.86, Z:-8.68 [[ 9.50979483e-01 2.72521100e-01 1.46185750e-01 6.05487752e+01] [-2.69306517e-01 9.62149753e-01 -4.17355124e-02 -9.85781510e+00] [-1.52026391e-01 3.20840856e-04 9.88376383e-01 -8.67669803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:-9.87, Z:-8.68 [[ 9.50914357e-01 2.72691617e-01 1.46291382e-01 6.05787589e+01] [-2.69469900e-01 9.62101439e-01 -4.17946771e-02 -9.86690939e+00] [-1.52144207e-01 3.22034580e-04 9.88358253e-01 -8.68170713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:-9.88, Z:-8.69 [[ 9.50842146e-01 2.73399023e-01 1.45437917e-01 6.06094603e+01] [-2.70219241e-01 9.61900681e-01 -4.15769339e-02 -9.87688986e+00] [-1.51263925e-01 2.32977441e-04 9.88493384e-01 -8.68694020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:-9.89, Z:-8.69 [[ 9.50684663e-01 2.73970949e-01 1.45391166e-01 6.06391072e+01] [-2.70795064e-01 9.61737953e-01 -4.15950019e-02 -9.88662240e+00] [-1.51224024e-01 1.72520395e-04 9.88499502e-01 -8.69280998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:-9.90, Z:-8.70 [[ 9.50500391e-01 2.74555692e-01 1.45492884e-01 6.06689460e+01] [-2.71377611e-01 9.61571193e-01 -4.16537166e-02 -9.89666674e+00] [-1.51338031e-01 1.08362630e-04 9.88482063e-01 -8.69837148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:-9.91, Z:-8.70 [[ 9.50326441e-01 2.74827246e-01 1.46115165e-01 6.07003588e+01] [-2.71620925e-01 9.61493618e-01 -4.18580465e-02 -9.90675405e+00] [-1.51992530e-01 9.08719938e-05 9.88381638e-01 -8.70360472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205871560000006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.73, Y:-9.92, Z:-8.71 [[ 9.50074322e-01 2.75871803e-01 1.45785909e-01 6.07310901e+01] [-2.72687509e-01 9.61194437e-01 -4.17944581e-02 -9.91721815e+00] [-1.51658517e-01 -4.61549379e-05 9.88432948e-01 -8.70924848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:-9.93, Z:-8.71 [[ 9.49965619e-01 2.76002160e-01 1.46246811e-01 6.07619177e+01] [-2.72794228e-01 9.61157014e-01 -4.19583426e-02 -9.92551429e+00] [-1.52146742e-01 -3.63030413e-05 9.88357915e-01 -8.71349558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:-9.93, Z:-8.72 [[ 9.49912598e-01 2.76259072e-01 1.46106063e-01 6.07905320e+01] [-2.73055525e-01 9.61083203e-01 -4.19494620e-02 -9.93421171e+00] [-1.52009002e-01 -4.67452255e-05 9.88379108e-01 -8.71850663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:-9.94, Z:-8.72 [[ 9.49884972e-01 2.76671255e-01 1.45504490e-01 6.08212042e+01] [-2.73499028e-01 9.60964622e-01 -4.17765203e-02 -9.94385719e+00] [-1.51383030e-01 -1.12447954e-04 9.88475172e-01 -8.72413560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:60.85, Y:-9.95, Z:-8.73 [[ 9.49726215e-01 2.77614998e-01 1.44741249e-01 6.08522577e+01] [-2.74483091e-01 9.60692384e-01 -4.15833537e-02 -9.95449332e+00] [-1.50595978e-01 -2.36224338e-04 9.88595365e-01 -8.73074862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.88, Y:-9.98, Z:-8.73 [[ 9.49853040e-01 2.75676724e-01 1.47585722e-01 6.08800736e+01] [-2.75393971e-01 9.61062053e-01 -2.27572024e-02 -9.97538892e+00] [-1.48112668e-01 -1.90282201e-02 9.88787421e-01 -8.72691273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385871560000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:-9.96, Z:-8.74 [[ 9.49228430e-01 2.81990836e-01 1.39450907e-01 6.09135412e+01] [-2.76172813e-01 9.59242529e-01 -5.98527238e-02 -9.96332991e+00] [-1.50645160e-01 1.83013577e-02 9.88418482e-01 -8.73846707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.94, Y:-9.98, Z:-8.74 [[ 9.49260080e-01 2.79293066e-01 1.44570692e-01 6.09383246e+01] [-2.76176722e-01 9.60205810e-01 -4.16079319e-02 -9.98301145e+00] [-1.50438425e-01 -4.30311006e-04 9.88619287e-01 -8.74481419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.97, Y:-9.99, Z:-8.75 [[ 9.49222010e-01 2.79248522e-01 1.44906308e-01 6.09669346e+01] [-2.76115633e-01 9.60218772e-01 -4.17141042e-02 -9.99168357e+00] [-1.50790360e-01 -4.14951245e-04 9.88565676e-01 -8.74967925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:-10.00, Z:-8.75 [[ 9.49446027e-01 2.78481469e-01 1.44914846e-01 6.09954564e+01] [-2.75339013e-01 9.60441558e-01 -4.17185965e-02 -1.00008030e+01] [-1.50800097e-01 -2.91154970e-04 9.88564235e-01 -8.75418642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:-10.01, Z:-8.76 [[ 9.49666672e-01 2.77776601e-01 1.44821861e-01 6.10257902e+01] [-2.74630406e-01 9.60645682e-01 -4.16894891e-02 -1.00107929e+01] [-1.50702860e-01 -1.81367892e-04 9.88579089e-01 -8.75969923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:-10.02, Z:-8.76 [[ 9.49904229e-01 2.76905071e-01 1.44932875e-01 6.10558183e+01] [-2.73739913e-01 9.60897279e-01 -4.17477995e-02 -1.00218581e+01] [-1.50825783e-01 -1.75013240e-05 9.88560359e-01 -8.76498408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565871560000005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:61.09, Y:-10.04, Z:-8.77 [[ 9.50599406e-01 2.74386150e-01 1.45165459e-01 6.10853727e+01] [-2.71177239e-01 9.61619505e-01 -4.18429500e-02 -1.00367139e+01] [-1.51075062e-01 4.10315121e-04 9.88522209e-01 -8.77206897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595871560000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.11, Y:-10.05, Z:-8.78 [[ 9.51020932e-01 2.72779138e-01 1.45432903e-01 6.11149684e+01] [-2.69534943e-01 9.62076430e-01 -4.19506591e-02 -1.00476244e+01] [-1.51360832e-01 6.96705769e-04 9.88478332e-01 -8.77606568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:-10.06, Z:-8.78 [[ 9.51410495e-01 2.71281452e-01 1.45686113e-01 6.11461821e+01] [-2.68004091e-01 9.62499581e-01 -4.20519087e-02 -1.00588227e+01] [-1.51630726e-01 9.64152981e-04 9.88436742e-01 -8.78022577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.18, Y:-10.07, Z:-8.79 [[ 9.51678718e-01 2.70137390e-01 1.46059606e-01 6.11754666e+01] [-2.66824880e-01 9.62821062e-01 -4.21910586e-02 -1.00699201e+01] [-1.52026647e-01 1.17999575e-03 9.88375691e-01 -8.78562116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.21, Y:-10.08, Z:-8.79 [[ 9.51872498e-01 2.69270125e-01 1.46397907e-01 6.12056268e+01] [-2.65927491e-01 9.63063745e-01 -4.23177524e-02 -1.00844397e+01] [-1.52385423e-01 1.34987654e-03 9.88320222e-01 -8.79105523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.24, Y:-10.10, Z:-8.80 [[ 9.51776696e-01 2.69494262e-01 1.46608197e-01 6.12354385e+01] [-2.66139789e-01 9.63001054e-01 -4.24096978e-02 -1.00953827e+01] [-1.52613019e-01 1.34628735e-03 9.88285108e-01 -8.79501148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745871560000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.27, Y:-10.11, Z:-8.80 [[ 9.51557398e-01 2.70408339e-01 1.46348382e-01 6.12658681e+01] [-2.67072160e-01 9.62744945e-01 -4.23631053e-02 -1.01077392e+01] [-1.52351502e-01 1.22534780e-03 9.88325614e-01 -8.80117524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:-10.12, Z:-8.81 [[ 9.51274978e-01 2.71350689e-01 1.46440161e-01 6.12967246e+01] [-2.68016546e-01 9.62479912e-01 -4.24211035e-02 -1.01188003e+01] [-1.52456709e-01 1.10574810e-03 9.88309531e-01 -8.80539786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:-10.13, Z:-8.81 [[ 9.51251620e-01 2.71437287e-01 1.46431398e-01 6.13284421e+01] [-2.68099512e-01 9.62455473e-01 -4.24513286e-02 -1.01281177e+01] [-1.52456574e-01 1.12370869e-03 9.88309532e-01 -8.81089346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:-10.14, Z:-8.82 [[ 9.50274893e-01 2.74478013e-01 1.47103529e-01 6.13573320e+01] [-2.71143528e-01 9.61593155e-01 -4.26590156e-02 -1.01412515e+01] [-1.53162708e-01 6.51621614e-04 9.88200769e-01 -8.81611432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.39, Y:-10.15, Z:-8.82 [[ 9.49698727e-01 2.76633891e-01 1.46785621e-01 6.13876136e+01] [-2.73334942e-01 9.60975328e-01 -4.25961171e-02 -1.01529580e+01] [-1.52840890e-01 3.31839022e-04 9.88250754e-01 -8.82218858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:61.42, Y:-10.16, Z:-8.83 [[ 9.49127880e-01 2.78495649e-01 1.46957279e-01 6.14170548e+01] [-2.75206318e-01 9.60437489e-01 -4.26768425e-02 -1.01638707e+01] [-1.53028595e-01 6.22093970e-05 9.88221759e-01 -8.82830940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925871560000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.45, Y:-10.18, Z:-8.83 [[ 9.48118867e-01 2.81931337e-01 1.46919484e-01 6.14478904e+01] [-2.78680240e-01 9.59434472e-01 -4.26944721e-02 -1.01765326e+01] [-1.52996527e-01 -4.64122477e-04 9.88226617e-01 -8.83174322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955871560000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.48, Y:-10.19, Z:-8.84 [[ 9.47580650e-01 2.83838265e-01 1.46719976e-01 6.14775832e+01] [-2.80613855e-01 9.58871885e-01 -4.26681729e-02 -1.01874940e+01] [-1.52796520e-01 -7.40122931e-04 9.88257393e-01 -8.83668554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.51, Y:-10.20, Z:-8.84 [[ 9.46991176e-01 2.85783626e-01 1.46749556e-01 6.15079270e+01] [-2.82578267e-01 9.58293611e-01 -4.26951733e-02 -1.01987430e+01] [-1.52830744e-01 -1.03628295e-03 9.88251835e-01 -8.84212569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.54, Y:-10.21, Z:-8.85 [[ 9.46084398e-01 2.88920249e-01 1.46456140e-01 6.15371484e+01] [-2.85760328e-01 9.57351978e-01 -4.26406437e-02 -1.02127490e+01] [-1.52529821e-01 -1.50970694e-03 9.88297716e-01 -8.84765542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.57, Y:-10.22, Z:-8.85 [[ 9.45703102e-01 2.90491270e-01 1.45809685e-01 6.15668351e+01] [-2.87373517e-01 9.56876083e-01 -4.24808702e-02 -1.02240133e+01] [-1.51862122e-01 -1.72755125e-03 9.88400178e-01 -8.85295140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.60, Y:-10.24, Z:-8.86 [[ 9.45331079e-01 2.92061151e-01 1.45084233e-01 6.15974332e+01] [-2.88988646e-01 9.56397673e-01 -4.22971961e-02 -1.02350348e+01] [-1.51111591e-01 -1.94284204e-03 9.88514801e-01 -8.85879971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.63, Y:-10.25, Z:-8.86 [[ 9.44848572e-01 2.93730293e-01 1.44857486e-01 6.16267688e+01] [-2.90682216e-01 9.55885861e-01 -4.22619266e-02 -1.02456054e+01] [-1.50880831e-01 -2.17637407e-03 9.88549563e-01 -8.86402666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.66, Y:-10.26, Z:-8.87 [[ 9.43615335e-01 2.97418292e-01 1.45370075e-01 6.16571095e+01] [-2.94389209e-01 9.54743290e-01 -4.24292732e-02 -1.02586402e+01] [-1.51410346e-01 -2.75846863e-03 9.88467146e-01 -8.86945895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.69, Y:-10.27, Z:-8.88 [[ 9.42914035e-01 2.99603285e-01 1.45433811e-01 6.16879688e+01] [-2.96592759e-01 9.54058895e-01 -4.24777662e-02 -1.02700843e+01] [-1.51478899e-01 -3.08173333e-03 9.88455687e-01 -8.87617392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.72, Y:-10.28, Z:-8.88 [[ 9.42236994e-01 3.01624226e-01 1.45644341e-01 6.17193210e+01] [-2.98624267e-01 9.53420886e-01 -4.25694909e-02 -1.02800721e+01] [-1.51700346e-01 -3.38238538e-03 9.88420743e-01 -8.87997261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:-10.29, Z:-8.89 [[ 9.41539965e-01 3.03786893e-01 1.45657196e-01 6.17492625e+01] [-3.00807264e-01 9.52732821e-01 -4.26047108e-02 -1.02895576e+01] [-1.51715144e-01 -3.70070477e-03 9.88417331e-01 -8.88501157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:-10.30, Z:-8.89 [[ 9.40199934e-01 3.07693199e-01 1.46112896e-01 6.17794183e+01] [-3.04737076e-01 9.51475836e-01 -4.27673786e-02 -1.02997683e+01] [-1.52182122e-01 -4.31613021e-03 9.88343044e-01 -8.89032588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.81, Y:-10.31, Z:-8.90 [[ 9.39484934e-01 3.09635002e-01 1.46609088e-01 6.18106541e+01] [-3.06677726e-01 9.50844272e-01 -4.29411598e-02 -1.03094667e+01] [-1.52698498e-01 -4.61916908e-03 9.88262026e-01 -8.89607134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.84, Y:-10.32, Z:-8.90 [[ 9.38867805e-01 3.11503874e-01 1.46603485e-01 6.18413074e+01] [-3.08564688e-01 9.50232283e-01 -4.29702351e-02 -1.03190773e+01] [-1.52692759e-01 -4.89328843e-03 9.88261593e-01 -8.90104100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.87, Y:-10.33, Z:-8.91 [[ 9.38337411e-01 3.13042842e-01 1.46721103e-01 6.18723802e+01] [-3.10113210e-01 9.49725201e-01 -4.30329971e-02 -1.03286265e+01] [-1.52815901e-01 -5.12068122e-03 9.88241407e-01 -8.90677949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.90, Y:-10.34, Z:-8.91 [[ 9.37851908e-01 3.14432042e-01 1.46854655e-01 6.19027083e+01] [-3.11509161e-01 9.49265066e-01 -4.31031074e-02 -1.03383547e+01] [-1.52956992e-01 -5.32223881e-03 9.88218514e-01 -8.91257302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:-10.35, Z:-8.92 [[ 9.37521075e-01 3.15674714e-01 1.46300064e-01 6.19341894e+01] [-3.12784604e-01 9.48851666e-01 -4.29686737e-02 -1.03467488e+01] [-1.52381183e-01 -5.47637045e-03 9.88306625e-01 -8.91803996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.96, Y:-10.36, Z:-8.92 [[ 9.37723201e-01 3.14160618e-01 1.48250818e-01 6.19637984e+01] [-3.13142729e-01 9.49207330e-01 -3.07745977e-02 -1.03623199e+01] [-1.50388930e-01 -1.75656115e-02 9.88470849e-01 -8.91795592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.00, Y:-10.36, Z:-8.93 [[ 9.37391072e-01 3.17835517e-01 1.42402817e-01 6.19972501e+01] [-3.13147254e-01 9.48121579e-01 -5.48112142e-02 -1.03560628e+01] [-1.52436135e-01 6.78649157e-03 9.88290022e-01 -8.92879259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.03, Y:-10.37, Z:-8.93 [[ 9.37720446e-01 3.15182134e-01 1.46084178e-01 6.20266461e+01] [-3.12284273e-01 9.49016271e-01 -4.29726591e-02 -1.03713398e+01] [-1.52180476e-01 -5.32345043e-03 9.88338385e-01 -8.93424709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.06, Y:-10.38, Z:-8.94 [[ 9.37945206e-01 3.14669236e-01 1.45746571e-01 6.20582422e+01] [-3.11773888e-01 9.49187154e-01 -4.29044253e-02 -1.03804366e+01] [-1.51841476e-01 -5.19797509e-03 9.88391191e-01 -8.94055608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.09, Y:-10.40, Z:-8.94 [[ 9.38461526e-01 3.11863215e-01 1.48429440e-01 6.20886313e+01] [-3.10911336e-01 9.49959728e-01 -3.01770861e-02 -1.03964046e+01] [-1.50413114e-01 -1.78283613e-02 9.88462465e-01 -8.93911373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.12, Y:-10.40, Z:-8.94 [[ 9.38587533e-01 3.13012558e-01 1.45177757e-01 6.21213304e+01] [-3.10247286e-01 9.49731829e-01 -4.19055566e-02 -1.03983511e+01] [-1.50996902e-01 -5.70897197e-03 9.88517751e-01 -8.94434865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.15, Y:-10.41, Z:-8.95 [[ 9.38995441e-01 3.11667467e-01 1.45433670e-01 6.21529335e+01] [-3.08957231e-01 9.50172227e-01 -4.14507857e-02 -1.04072209e+01] [-1.51105895e-01 -6.01068509e-03 9.88499307e-01 -8.94909199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.18, Y:-10.40, Z:-8.96 [[ 9.39412278e-01 3.11814193e-01 1.42395511e-01 6.21838593e+01] [-3.06510498e-01 9.50077517e-01 -5.83440344e-02 -1.04035386e+01] [-1.53479272e-01 1.11633831e-02 9.88088808e-01 -8.96269026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:-10.42, Z:-8.97 [[ 9.39859521e-01 3.08123048e-01 1.47391546e-01 6.22121570e+01] [-3.05064298e-01 9.51337763e-01 -4.34998248e-02 -1.04202032e+01] [-1.53622443e-01 -4.08017417e-03 9.88121196e-01 -8.96729136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.24, Y:-10.44, Z:-8.97 [[ 9.40572994e-01 3.05150765e-01 1.49014944e-01 6.22419202e+01] [-3.03829510e-01 9.52184878e-01 -3.21183351e-02 -1.04361549e+01] [-1.51690710e-01 -1.50654987e-02 9.88313189e-01 -8.96763978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.27, Y:-10.43, Z:-8.98 [[ 9.41238069e-01 3.05426677e-01 1.44171571e-01 6.22749195e+01] [-3.00609762e-01 9.52181305e-01 -5.46308803e-02 -1.04300714e+01] [-1.53963203e-01 8.08128257e-03 9.88043534e-01 -8.97753056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76587156000001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:62.30, Y:-10.45, Z:-8.98 [[ 9.42004631e-01 3.01806656e-01 1.46765179e-01 6.23040007e+01] [-2.98687506e-01 9.53364520e-01 -4.33804810e-02 -1.04453394e+01] [-1.53013232e-01 -2.97231114e-03 9.88219670e-01 -8.98457840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.34, Y:-10.45, Z:-8.99 [[ 9.42612948e-01 2.99465813e-01 1.47651808e-01 6.23352788e+01] [-2.96275204e-01 9.54103548e-01 -4.36740456e-02 -1.04531781e+01] [-1.53953997e-01 -2.57784856e-03 9.88074654e-01 -8.98846654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.37, Y:-10.46, Z:-8.99 [[ 9.44046341e-01 2.94754303e-01 1.47974344e-01 6.23665698e+01] [-2.91487521e-01 9.55571408e-01 -4.37985128e-02 -1.04624509e+01] [-1.54309852e-01 -1.78484889e-03 9.88020892e-01 -8.99348811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.40, Y:-10.47, Z:-9.00 [[ 9.44759009e-01 2.92592628e-01 1.47715841e-01 6.23962083e+01] [-2.89306080e-01 9.56236163e-01 -4.37537770e-02 -1.04720456e+01] [-1.54053261e-01 -1.39831584e-03 9.88061556e-01 -9.00054575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:-10.48, Z:-9.00 [[ 9.45291763e-01 2.90670885e-01 1.48101046e-01 6.24264690e+01] [-2.87338966e-01 9.56822509e-01 -4.38976522e-02 -1.04809925e+01] [-1.54466184e-01 -1.05911240e-03 9.87997508e-01 -9.00451607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:-10.50, Z:-9.01 [[ 9.46107067e-01 2.87262495e-01 1.49538210e-01 6.24561374e+01] [-2.85544415e-01 9.57786551e-01 -3.33063006e-02 -1.04969722e+01] [-1.52793337e-01 -1.11884743e-02 9.88194826e-01 -9.00578076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:-10.49, Z:-9.02 [[ 9.46883492e-01 2.87413758e-01 1.44239332e-01 6.24881464e+01] [-2.82483445e-01 9.57750012e-01 -5.40186894e-02 -1.04940131e+01] [-1.53670936e-01 1.04041820e-02 9.88067304e-01 -9.01520880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:-10.51, Z:-9.02 [[ 9.47245521e-01 2.84766726e-01 1.47084446e-01 6.25172332e+01] [-2.81399014e-01 9.58596845e-01 -4.36655907e-02 -1.05098952e+01] [-1.53429193e-01 -2.73829017e-05 9.88159644e-01 -9.02081544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.55, Y:-10.52, Z:-9.03 [[ 9.47473337e-01 2.84031124e-01 1.47039435e-01 6.25480483e+01] [-2.80651897e-01 9.58815053e-01 -4.36830287e-02 -1.05194502e+01] [-1.53390963e-01 1.21608682e-04 9.88165572e-01 -9.02654536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:-10.53, Z:-9.03 [[ 9.47763152e-01 2.83290739e-01 1.46599334e-01 6.25778241e+01] [-2.79918088e-01 9.59034037e-01 -4.35841747e-02 -1.05285259e+01] [-1.52940744e-01 2.71669553e-04 9.88235324e-01 -9.03171060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.61, Y:-10.54, Z:-9.04 [[ 9.48162167e-01 2.82463651e-01 1.45611782e-01 6.26074117e+01] [-2.79122232e-01 9.59277905e-01 -4.33206649e-02 -1.05387721e+01] [-1.51918679e-01 4.31529753e-04 9.88392902e-01 -9.03887150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:-10.55, Z:-9.04 [[ 9.48169219e-01 2.82344666e-01 1.45796507e-01 6.26387981e+01] [-2.78990459e-01 9.59312915e-01 -4.33941752e-02 -1.05491559e+01] [-1.52116586e-01 4.69186798e-04 9.88362446e-01 -9.04310874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.67, Y:-10.56, Z:-9.05 [[ 9.48135637e-01 2.82328583e-01 1.46045831e-01 6.26689219e+01] [-2.78957696e-01 9.59317631e-01 -4.35004133e-02 -1.05591945e+01] [-1.52385751e-01 5.03683524e-04 9.88320965e-01 -9.04816416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:-10.57, Z:-9.05 [[ 9.48116275e-01 2.82186594e-01 1.46445398e-01 6.27003778e+01] [-2.78790839e-01 9.59359378e-01 -4.36491936e-02 -1.05690595e+01] [-1.52810983e-01 5.56875561e-04 9.88255277e-01 -9.05403346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18587156000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:62.73, Y:-10.58, Z:-9.06 [[ 9.48071268e-01 2.82335558e-01 1.46449660e-01 6.27298910e+01] [-2.78936499e-01 9.59315545e-01 -4.36819683e-02 -1.05791509e+01] [-1.52824409e-01 5.63463501e-04 9.88253198e-01 -9.06178846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:62.76, Y:-10.59, Z:-9.07 [[ 9.47867205e-01 2.82970086e-01 1.46545869e-01 6.27611639e+01] [-2.79569556e-01 9.59128610e-01 -4.37398297e-02 -1.05893342e+01] [-1.52933399e-01 4.89786454e-04 9.88236376e-01 -9.06649532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:62.79, Y:-10.60, Z:-9.07 [[ 9.47514521e-01 2.84078487e-01 1.46682126e-01 6.27919542e+01] [-2.80679932e-01 9.58800968e-01 -4.38118677e-02 -1.05993977e+01] [-1.53084974e-01 3.41651638e-04 9.88212970e-01 -9.07214492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:-10.61, Z:-9.07 [[ 9.47080084e-01 2.85528725e-01 1.46671954e-01 6.28229848e+01] [-2.82143002e-01 9.58370141e-01 -4.38405988e-02 -1.06091821e+01] [-1.53083771e-01 1.38092636e-04 9.88213206e-01 -9.07436960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:-10.62, Z:-9.08 [[ 9.46128338e-01 2.88960530e-01 1.46092370e-01 6.28535401e+01] [-2.85637807e-01 9.57340933e-01 -4.36964629e-02 -1.06197497e+01] [-1.52486759e-01 -3.87042484e-04 9.88305438e-01 -9.07928113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:-10.63, Z:-9.08 [[ 9.45440099e-01 2.91012838e-01 1.46473708e-01 6.28848225e+01] [-2.87692408e-01 9.56718899e-01 -4.38409265e-02 -1.06292731e+01] [-1.52892437e-01 -6.90403893e-04 9.88242595e-01 -9.08437138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:-10.64, Z:-9.09 [[ 9.44757343e-01 2.93153337e-01 1.46610653e-01 6.29164203e+01] [-2.89847523e-01 9.56064906e-01 -4.39125131e-02 -1.06385908e+01] [-1.53042400e-01 -1.00806544e-03 9.88219109e-01 -9.08953327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:-10.65, Z:-9.10 [[ 9.44029190e-01 2.95232049e-01 1.47128940e-01 6.29466802e+01] [-2.91922760e-01 9.55424669e-01 -4.40999277e-02 -1.06470762e+01] [-1.53590331e-01 -1.31866717e-03 9.88133732e-01 -9.09507664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:-10.66, Z:-9.10 [[ 9.42801572e-01 2.98984614e-01 1.47422511e-01 6.29783744e+01] [-2.95702928e-01 9.54256031e-01 -4.42177094e-02 -1.06551297e+01] [-1.53899235e-01 -1.90474203e-03 9.88084712e-01 -9.10013500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:-10.66, Z:-9.11 [[ 9.42289447e-01 3.00438142e-01 1.47741397e-01 6.30086149e+01] [-2.97154807e-01 9.53798956e-01 -4.43460461e-02 -1.06638655e+01] [-1.54238834e-01 -2.11525505e-03 9.88031329e-01 -9.10585668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.04, Y:-10.67, Z:-9.11 [[ 9.41876906e-01 3.01761258e-01 1.47675442e-01 6.30393583e+01] [-2.98494039e-01 9.53380719e-01 -4.43453765e-02 -1.06734889e+01] [-1.54172636e-01 -2.31235318e-03 9.88041220e-01 -9.11143654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:-10.68, Z:-9.12 [[ 9.41619623e-01 3.02621354e-01 1.47556097e-01 6.30699930e+01] [-2.99365169e-01 9.53107786e-01 -4.43400934e-02 -1.06829610e+01] [-1.54055124e-01 -2.42165390e-03 9.88059287e-01 -9.11692529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:63.10, Y:-10.69, Z:-9.12 [[ 9.41458375e-01 3.03381047e-01 1.47024043e-01 6.30994449e+01] [-3.00152815e-01 9.52866023e-01 -4.42112036e-02 -1.06915487e+01] [-1.53507056e-01 -2.50667252e-03 9.88144372e-01 -9.12462422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:63.13, Y:-10.70, Z:-9.13 [[ 9.41400911e-01 3.03498950e-01 1.47148607e-01 6.31308965e+01] [-3.00262158e-01 9.52828493e-01 -4.42775341e-02 -1.07006089e+01] [-1.53645571e-01 -2.50024744e-03 9.88122860e-01 -9.12971403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:-10.71, Z:-9.13 [[ 9.41353533e-01 3.03479982e-01 1.47490427e-01 6.31629098e+01] [-3.00223019e-01 9.52834604e-01 -4.44112117e-02 -1.07096038e+01] [-1.54011896e-01 -2.47337024e-03 9.88065898e-01 -9.13304075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:-10.72, Z:-9.14 [[ 9.41591774e-01 3.02834567e-01 1.47296155e-01 6.31944608e+01] [-2.99573427e-01 9.53040281e-01 -4.43845023e-02 -1.07185591e+01] [-1.53820330e-01 -2.33393158e-03 9.88096078e-01 -9.13887304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:-10.73, Z:-9.14 [[ 9.41565672e-01 3.02920145e-01 1.47287036e-01 6.32260701e+01] [-2.99655316e-01 9.53013128e-01 -4.44147430e-02 -1.07282188e+01] [-1.53820599e-01 -2.31594579e-03 9.88096078e-01 -9.14438639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:-10.74, Z:-9.15 [[ 9.41687219e-01 3.02487633e-01 1.47398828e-01 6.32572593e+01] [-2.99210568e-01 9.53150690e-01 -4.44611981e-02 -1.07380297e+01] [-1.53942257e-01 -2.23474504e-03 9.88077319e-01 -9.15034449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:-10.75, Z:-9.16 [[ 9.41863773e-01 3.01885864e-01 1.47504435e-01 6.32875460e+01] [-2.98591759e-01 9.53341746e-01 -4.45250053e-02 -1.07477760e+01] [-1.54063605e-01 -2.10711926e-03 9.88058685e-01 -9.15556213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:-10.76, Z:-9.16 [[ 9.41964131e-01 3.01501455e-01 1.47649751e-01 6.33191905e+01] [-2.98191523e-01 9.53463581e-01 -4.45983762e-02 -1.07575270e+01] [-1.54225135e-01 -2.01783330e-03 9.88033671e-01 -9.16068996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:-10.77, Z:-9.17 [[ 9.41955961e-01 3.01314083e-01 1.48083727e-01 6.33496851e+01] [-2.97977406e-01 9.53522925e-01 -4.47604369e-02 -1.07653088e+01] [-1.54688179e-01 -1.96324445e-03 9.87961392e-01 -9.16559715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:-10.78, Z:-9.17 [[ 9.41832608e-01 3.00795537e-01 1.49911252e-01 6.33797676e+01] [-2.98187179e-01 9.53663621e-01 -4.01260900e-02 -1.07767860e+01] [-1.55034656e-01 -6.90955336e-03 9.87884869e-01 -9.16969329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:-10.78, Z:-9.17 [[ 9.41591885e-01 3.02061704e-01 1.48873935e-01 6.34109822e+01] [-2.98939058e-01 9.53281673e-01 -4.34682930e-02 -1.07832931e+01] [-1.55048901e-01 -3.57484205e-03 9.87900328e-01 -9.17448361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:-10.79, Z:-9.18 [[ 9.41352101e-01 3.03930849e-01 1.46568283e-01 6.34420984e+01] [-2.99688640e-01 9.52686324e-01 -5.07492625e-02 -1.07880225e+01] [-1.55057865e-01 3.84807539e-03 9.87897895e-01 -9.18172133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:-10.80, Z:-9.19 [[ 9.41026683e-01 3.04596403e-01 1.47274619e-01 6.34708151e+01] [-3.01323664e-01 9.52478461e-01 -4.45963150e-02 -1.08017498e+01] [-1.53859780e-01 -2.41100564e-03 9.88089751e-01 -9.18795029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:-10.81, Z:-9.19 [[ 9.40786945e-01 3.04660434e-01 1.48667227e-01 6.35001145e+01] [-3.02164851e-01 9.52430579e-01 -3.96534380e-02 -1.08143441e+01] [-1.53676046e-01 -7.61657350e-03 9.88091929e-01 -9.19201750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:-10.82, Z:-9.20 [[ 9.40390459e-01 3.06346899e-01 1.47707017e-01 6.35310222e+01] [-3.03111889e-01 9.51915448e-01 -4.44990188e-02 -1.08204582e+01] [-1.54236728e-01 -2.92530016e-03 9.88029592e-01 -9.19724163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:-10.83, Z:-9.20 [[ 9.39960682e-01 3.08423758e-01 1.46111949e-01 6.35623528e+01] [-3.04418229e-01 9.51246670e-01 -4.95914730e-02 -1.08250528e+01] [-1.54283693e-01 2.13489399e-03 9.88024283e-01 -9.20339036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.59, Y:-10.84, Z:-9.21 [[ 9.39845045e-01 3.08045480e-01 1.47645770e-01 6.35924481e+01] [-3.04782113e-01 9.51367265e-01 -4.48128467e-02 -1.08367032e+01] [-1.54269747e-01 -2.88265771e-03 9.88024562e-01 -9.20869906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.62, Y:-10.85, Z:-9.21 [[ 9.39706318e-01 3.08304842e-01 1.47987027e-01 6.36222297e+01] [-3.05025206e-01 9.51283176e-01 -4.49437799e-02 -1.08450646e+01] [-1.54633954e-01 -2.90581959e-03 9.87967558e-01 -9.21374972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:63.65, Y:-10.85, Z:-9.22 [[ 9.39589570e-01 3.08511864e-01 1.48296562e-01 6.36517502e+01] [-3.05217049e-01 9.51216007e-01 -4.50628592e-02 -1.08540546e+01] [-1.54964491e-01 -2.92204668e-03 9.87915719e-01 -9.22150460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.68, Y:-10.86, Z:-9.22 [[ 9.39449964e-01 3.08760086e-01 1.48663965e-01 6.36820913e+01] [-3.05447577e-01 9.51135397e-01 -4.52021540e-02 -1.08621624e+01] [-1.55356180e-01 -2.94388587e-03 9.87854134e-01 -9.22393189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:-10.87, Z:-9.23 [[ 9.39314048e-01 3.09053101e-01 1.48913734e-01 6.37114252e+01] [-3.05728807e-01 9.51040141e-01 -4.53050332e-02 -1.08703315e+01] [-1.55624600e-01 -2.97156426e-03 9.87811801e-01 -9.22859052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:-10.88, Z:-9.23 [[ 9.38952812e-01 3.09983640e-01 1.49257357e-01 6.37432249e+01] [-3.06655874e-01 9.50736722e-01 -4.54077088e-02 -1.08789498e+01] [-1.55980097e-01 -3.13494947e-03 9.87755223e-01 -9.23394574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.77, Y:-10.89, Z:-9.24 [[ 9.38537289e-01 3.11167503e-01 1.49407304e-01 6.37732848e+01] [-3.07842788e-01 9.50349340e-01 -4.54857023e-02 -1.08861360e+01] [-1.56142805e-01 -3.30393307e-03 9.87728965e-01 -9.23864422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:-10.89, Z:-9.24 [[ 9.37621047e-01 3.13956836e-01 1.49324735e-01 6.38010880e+01] [-3.10666509e-01 9.49429894e-01 -4.54884346e-02 -1.08895277e+01] [-1.56054772e-01 -3.73928043e-03 9.87741325e-01 -9.24266228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.83, Y:-10.90, Z:-9.25 [[ 9.37254249e-01 3.15187927e-01 1.49033701e-01 6.38292738e+01] [-3.11927487e-01 9.49021075e-01 -4.53898840e-02 -1.08967132e+01] [-1.55742467e-01 -3.94584629e-03 9.87789813e-01 -9.25088585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:-10.90, Z:-9.25 [[ 9.37215061e-01 3.15530331e-01 1.48554837e-01 6.38587710e+01] [-3.12295798e-01 9.48907089e-01 -4.52401485e-02 -1.09031482e+01] [-1.55239377e-01 -3.99330280e-03 9.87868812e-01 -9.25293389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:-10.91, Z:-9.26 [[ 9.37191772e-01 3.15659929e-01 1.48426387e-01 6.38864594e+01] [-3.12433223e-01 9.48863894e-01 -4.51972453e-02 -1.09098672e+01] [-1.55103399e-01 -4.01484805e-03 9.87890083e-01 -9.25798381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:-10.92, Z:-9.26 [[ 9.37344606e-01 3.15333559e-01 1.48154769e-01 6.39149133e+01] [-3.12115592e-01 9.48972640e-01 -4.51085965e-02 -1.09168628e+01] [-1.54819077e-01 -3.95911372e-03 9.87934906e-01 -9.26304645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:-10.92, Z:-9.27 [[ 9.37838987e-01 3.13553561e-01 1.48802552e-01 6.39431796e+01] [-3.10285598e-01 9.49563364e-01 -4.53019374e-02 -1.09224237e+01] [-1.55502035e-01 -3.68536569e-03 9.87828697e-01 -9.26842014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:63.97, Y:-10.93, Z:-9.28 [[ 9.38234536e-01 3.12156471e-01 1.49245748e-01 6.39704463e+01] [-3.08852277e-01 9.50024366e-01 -4.54309793e-02 -1.09300851e+01] [-1.55968671e-01 -3.46997537e-03 9.87755907e-01 -9.27553471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:-10.94, Z:-9.28 [[ 9.38767075e-01 3.10357638e-01 1.49647974e-01 6.39992835e+01] [-3.07014074e-01 9.50614526e-01 -4.55453847e-02 -1.09366411e+01] [-1.56392896e-01 -3.18752679e-03 9.87689780e-01 -9.27740456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-10.94, Z:-9.28 [[ 9.39880757e-01 3.06982134e-01 1.49619962e-01 6.40274921e+01] [-3.03597917e-01 9.51711647e-01 -4.55329087e-02 -1.09430524e+01] [-1.56372850e-01 -2.62880407e-03 9.87694599e-01 -9.28221464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:-10.95, Z:-9.29 [[ 9.40361537e-01 3.05541056e-01 1.49548798e-01 6.40553789e+01] [-3.02142584e-01 9.52175899e-01 -4.55073187e-02 -1.09508233e+01] [-1.56301116e-01 -2.39172825e-03 9.87706556e-01 -9.28726610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.08, Y:-10.96, Z:-9.29 [[ 9.40533293e-01 3.03752799e-01 1.52089978e-01 6.40803730e+01] [-3.01244650e-01 9.52714315e-01 -3.98383716e-02 -1.09615197e+01] [-1.56999316e-01 -8.34697729e-03 9.87563437e-01 -9.29222913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:-10.96, Z:-9.30 [[ 9.41224795e-01 3.04007052e-01 1.47226351e-01 6.41100528e+01] [-2.99735973e-01 9.52662202e-01 -5.09222579e-02 -1.09621257e+01] [-1.55737705e-01 3.80025815e-03 9.87791134e-01 -9.29677761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.14, Y:-10.98, Z:-9.30 [[ 9.42313989e-01 2.99202716e-01 1.50073586e-01 6.41360181e+01] [-2.98243100e-01 9.54037115e-01 -2.93979181e-02 -1.09800637e+01] [-1.51971708e-01 -1.70563419e-02 9.88237664e-01 -9.29525229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.17, Y:-10.97, Z:-9.31 [[ 9.41844352e-01 3.03788000e-01 1.43673478e-01 6.41713269e+01] [-2.98250360e-01 9.52652798e-01 -5.91554634e-02 -1.09727007e+01] [-1.54841661e-01 1.28645726e-02 9.87855537e-01 -9.30754100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.19, Y:-10.99, Z:-9.31 [[ 9.41616277e-01 3.01201820e-01 1.50453481e-01 6.41921849e+01] [-2.98614691e-01 9.53533101e-01 -4.00486036e-02 -1.09908133e+01] [-1.55525087e-01 -7.21720278e-03 9.87805578e-01 -9.31310424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:-10.99, Z:-9.32 [[ 9.41923216e-01 3.02287037e-01 1.46298331e-01 6.42224054e+01] [-2.98189451e-01 9.53211593e-01 -4.97062465e-02 -1.09921483e+01] [-1.54478819e-01 3.19484853e-03 9.87990935e-01 -9.31708337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:-11.00, Z:-9.32 [[ 9.41473401e-01 3.02571079e-01 1.48588615e-01 6.42482966e+01] [-2.99180444e-01 9.53124947e-01 -4.52094761e-02 -1.10008854e+01] [-1.55302596e-01 -1.89128868e-03 9.87865136e-01 -9.32154425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.28, Y:-11.01, Z:-9.33 [[ 9.41167948e-01 3.03482668e-01 1.48664600e-01 6.42760748e+01] [-3.00101337e-01 9.52834749e-01 -4.52230924e-02 -1.10077463e+01] [-1.55377222e-01 -2.05192011e-03 9.87853080e-01 -9.32611410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.30, Y:-11.01, Z:-9.33 [[ 9.40889804e-01 3.04489783e-01 1.48365591e-01 6.43039731e+01] [-3.01135712e-01 9.52513013e-01 -4.51247489e-02 -1.10143433e+01] [-1.55060181e-01 -2.22076180e-03 9.87902530e-01 -9.33135853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.33, Y:-11.03, Z:-9.33 [[ 9.40975021e-01 3.03412646e-01 1.50022588e-01 6.43266847e+01] [-3.02666058e-01 9.52675071e-01 -2.83454897e-02 -1.10293966e+01] [-1.51523159e-01 -1.87343475e-02 9.88276154e-01 -9.32818671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:64.36, Y:-11.02, Z:-9.34 [[ 9.40056855e-01 3.09931583e-01 1.42251622e-01 6.43604317e+01] [-3.04381024e-01 9.50671039e-01 -5.98060811e-02 -1.10175816e+01] [-1.53770291e-01 1.29224221e-02 9.88022120e-01 -9.34287244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:-11.03, Z:-9.35 [[ 9.39851024e-01 3.08348850e-01 1.46972923e-01 6.43846199e+01] [-3.05108735e-01 9.51269065e-01 -4.46746629e-02 -1.10320261e+01] [-1.53586176e-01 -2.85519486e-03 9.88131132e-01 -9.34668944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:-11.04, Z:-9.35 [[ 9.39039838e-01 3.08183983e-01 1.52403464e-01 6.44123303e+01] [-3.06194038e-01 9.51251558e-01 -3.69551590e-02 -1.10408558e+01] [-1.56363021e-01 -1.19626656e-02 9.87627207e-01 -9.35342154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:-11.04, Z:-9.36 [[ 9.38791659e-01 3.12264277e-01 1.45469043e-01 6.44418404e+01] [-3.07706493e-01 9.49979935e-01 -5.34306763e-02 -1.10366038e+01] [-1.54877164e-01 5.39850421e-03 9.87918985e-01 -9.35567933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:64.47, Y:-11.05, Z:-9.36 [[ 9.38656478e-01 3.11342142e-01 1.48290549e-01 6.44656333e+01] [-3.08091655e-01 9.50291644e-01 -4.50035955e-02 -1.10467068e+01] [-1.54930785e-01 -3.44416426e-03 9.87919323e-01 -9.36364419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:-11.05, Z:-9.37 [[ 9.38526393e-01 3.11600796e-01 1.48570364e-01 6.44926242e+01] [-3.08343874e-01 9.50206622e-01 -4.50714075e-02 -1.10516952e+01] [-1.55216830e-01 -3.51005612e-03 9.87874190e-01 -9.36571572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:-11.06, Z:-9.37 [[ 9.38382777e-01 3.09681581e-01 1.53411479e-01 6.45164284e+01] [-3.07801265e-01 9.50751476e-01 -3.64693311e-02 -1.10612578e+01] [-1.57150070e-01 -1.29980551e-02 9.87489193e-01 -9.37309502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.55, Y:-11.06, Z:-9.38 [[ 9.38939317e-01 3.11528066e-01 1.46093201e-01 6.45479128e+01] [-3.07030647e-01 9.50224422e-01 -5.29691391e-02 -1.10584328e+01] [-1.55322701e-01 4.87971730e-03 9.87851733e-01 -9.37798433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:-11.07, Z:-9.38 [[ 9.39386648e-01 3.09153188e-01 1.48246523e-01 6.45759258e+01] [-3.06056157e-01 9.51003068e-01 -4.38496790e-02 -1.10715549e+01] [-1.54539167e-01 -4.17995828e-03 9.87977821e-01 -9.38012171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:-11.08, Z:-9.39 [[ 9.39228316e-01 3.06948350e-01 1.53729895e-01 6.46010222e+01] [-3.04749031e-01 9.51663659e-01 -3.82662752e-02 -1.10813050e+01] [-1.58044924e-01 -1.09082674e-02 9.87371668e-01 -9.38764804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.63, Y:-11.08, Z:-9.39 [[ 9.39857043e-01 3.07907493e-01 1.47857076e-01 6.46320489e+01] [-3.02983838e-01 9.51389150e-01 -5.53125682e-02 -1.10756813e+01] [-1.57700772e-01 7.18760254e-03 9.87460787e-01 -9.38888919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.66, Y:-11.09, Z:-9.39 [[ 9.40103032e-01 3.05472168e-01 1.51304475e-01 6.46576673e+01] [-3.02015219e-01 9.52197596e-01 -4.58971257e-02 -1.10873941e+01] [-1.58092052e-01 -2.54822720e-03 9.87421090e-01 -9.39448909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:-11.10, Z:-9.40 [[ 9.40480269e-01 3.04733755e-01 1.50446675e-01 6.46865967e+01] [-3.01351987e-01 9.52433795e-01 -4.53524721e-02 -1.10956835e+01] [-1.57110927e-01 -2.68429937e-03 9.87577314e-01 -9.39862162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:-11.10, Z:-9.41 [[ 9.40979917e-01 3.03305029e-01 1.50209375e-01 6.47142408e+01] [-2.99751328e-01 9.52892427e-01 -4.63159217e-02 -1.11020953e+01] [-1.57181227e-01 -1.44310735e-03 9.87568721e-01 -9.40529078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:64.74, Y:-11.11, Z:-9.41 [[ 9.41322835e-01 3.01962267e-01 1.50765084e-01 6.47417469e+01] [-2.98486587e-01 9.53317865e-01 -4.57253286e-02 -1.11082771e+01] [-1.57534371e-01 -1.95905938e-03 9.87511561e-01 -9.41274182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:64.77, Y:-11.12, Z:-9.42 [[ 9.41591007e-01 3.01625144e-01 1.49761969e-01 6.47715504e+01] [-2.98091687e-01 9.53425734e-01 -4.60512243e-02 -1.11159181e+01] [-1.56677122e-01 -1.28137930e-03 9.87649046e-01 -9.41740151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:-11.12, Z:-9.42 [[ 9.41672544e-01 3.00685823e-01 1.51131913e-01 6.47975568e+01] [-2.97178151e-01 9.53721628e-01 -4.58279589e-02 -1.11207124e+01] [-1.57917592e-01 -1.75817195e-03 9.87450729e-01 -9.42027133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:-11.13, Z:-9.43 [[ 9.41867044e-01 3.00221068e-01 1.50843567e-01 6.48260805e+01] [-2.96723237e-01 9.53868152e-01 -4.57260284e-02 -1.11258454e+01] [-1.57612791e-01 -1.69095220e-03 9.87499544e-01 -9.42583936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:-11.13, Z:-9.43 [[ 9.41907960e-01 3.00256834e-01 1.50516538e-01 6.48537177e+01] [-2.96776000e-01 9.53856876e-01 -4.56187050e-02 -1.11323154e+01] [-1.57268562e-01 -1.70107451e-03 9.87554406e-01 -9.43075037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.88, Y:-11.14, Z:-9.44 [[ 9.41938509e-01 3.00307753e-01 1.50223499e-01 6.48815111e+01] [-2.96842111e-01 9.53840827e-01 -4.55240324e-02 -1.11388921e+01] [-1.56960526e-01 -1.71182147e-03 9.87603393e-01 -9.43735479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43587156000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:64.91, Y:-11.14, Z:-9.44 [[ 9.41985500e-01 3.00136980e-01 1.50270126e-01 6.49084531e+01] [-2.96668302e-01 9.53894612e-01 -4.55300650e-02 -1.11440382e+01] [-1.57007120e-01 -1.69172229e-03 9.87596022e-01 -9.44332386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:-11.15, Z:-9.45 [[ 9.42158458e-01 2.99730203e-01 1.49997482e-01 6.49351905e+01] [-2.96270640e-01 9.54022613e-01 -4.54374449e-02 -1.11506396e+01] [-1.56719965e-01 -1.63057713e-03 9.87641734e-01 -9.44569305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:-11.16, Z:-9.45 [[ 9.42375949e-01 2.99102539e-01 1.49884097e-01 6.49632340e+01] [-2.95642239e-01 9.54219739e-01 -4.53911496e-02 -1.11573522e+01] [-1.56598972e-01 -1.53654223e-03 9.87661076e-01 -9.45082184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:-11.16, Z:-9.46 [[ 9.42655997e-01 2.98171387e-01 1.49978318e-01 6.49899844e+01] [-2.94696268e-01 9.54511336e-01 -4.54116597e-02 -1.11634922e+01] [-1.56696462e-01 -1.39047722e-03 9.87645830e-01 -9.45566323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.01, Y:-11.18, Z:-9.46 [[ 9.42926568e-01 2.94014972e-01 1.56347957e-01 6.50149215e+01] [-2.92118202e-01 9.55723012e-01 -3.55032500e-02 -1.11754523e+01] [-1.59863827e-01 -1.21951264e-02 9.87063744e-01 -9.46356754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.04, Y:-11.18, Z:-9.47 [[ 9.42899017e-01 2.95767309e-01 1.53176835e-01 6.50446879e+01] [-2.92104917e-01 9.55259511e-01 -4.64110407e-02 -1.11773380e+01] [-1.60050497e-01 -9.82782007e-04 9.87108339e-01 -9.46735116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.07, Y:-11.18, Z:-9.47 [[ 9.43509380e-01 2.96452272e-01 1.48007097e-01 6.50741393e+01] [-2.91181711e-01 9.54992086e-01 -5.65979447e-02 -1.11787637e+01] [-1.58124196e-01 1.03037319e-02 9.87365470e-01 -9.46950325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:-11.20, Z:-9.48 [[ 9.43391409e-01 2.91323584e-01 1.58566133e-01 6.50965762e+01] [-2.89594611e-01 9.56530109e-01 -3.44254518e-02 -1.11997562e+01] [-1.61702227e-01 -1.34432223e-02 9.86748027e-01 -9.47813221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:-11.20, Z:-9.48 [[ 9.43692741e-01 2.92582792e-01 1.54399874e-01 6.51263820e+01] [-2.88548095e-01 9.56239495e-01 -4.84357825e-02 -1.11987520e+01] [-1.61814734e-01 1.15670695e-03 9.86820477e-01 -9.48136599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:-11.20, Z:-9.48 [[ 9.44687292e-01 2.92067675e-01 1.49205875e-01 6.51557042e+01] [-2.86641566e-01 9.56331845e-01 -5.71490495e-02 -1.12000686e+01] [-1.59381719e-01 1.12193752e-02 9.87153277e-01 -9.48408529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.18, Y:-11.21, Z:-9.49 [[ 9.45065401e-01 2.88979443e-01 1.52781772e-01 6.51801325e+01] [-2.85261127e-01 9.57335299e-01 -4.62083873e-02 -1.12137425e+01] [-1.59616657e-01 8.72476764e-05 9.87179069e-01 -9.49130926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:-11.23, Z:-9.50 [[ 9.45048896e-01 2.85518528e-01 1.59253742e-01 6.52056819e+01] [-2.83458462e-01 9.58308649e-01 -3.59977018e-02 -1.12275607e+01] [-1.62892249e-01 -1.11222323e-02 9.86581173e-01 -9.49786399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:-11.23, Z:-9.50 [[ 9.45568200e-01 2.85306892e-01 1.56527173e-01 6.52353884e+01] [-2.81107113e-01 9.58433775e-01 -4.88210060e-02 -1.12276166e+01] [-1.63949899e-01 2.16268899e-03 9.86466296e-01 -9.50153128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:-11.24, Z:-9.51 [[ 9.45732495e-01 2.84956164e-01 1.56173084e-01 6.52641232e+01] [-2.80512236e-01 9.58533287e-01 -5.02675089e-02 -1.12370889e+01] [-1.64021137e-01 3.73115547e-03 9.86449768e-01 -9.50825892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:-11.24, Z:-9.51 [[ 9.46794698e-01 2.83491099e-01 1.52356810e-01 6.52923547e+01] [-2.78855355e-01 9.58954746e-01 -5.14342796e-02 -1.12444375e+01] [-1.60684447e-01 6.21219070e-03 9.86986280e-01 -9.51029248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:-11.25, Z:-9.52 [[ 9.46804619e-01 2.81857548e-01 1.55297573e-01 6.53159409e+01] [-2.77771799e-01 9.59453779e-01 -4.78672469e-02 -1.12541353e+01] [-1.62492588e-01 2.18364429e-03 9.86707348e-01 -9.51618201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.35, Y:-11.26, Z:-9.52 [[ 9.47526354e-01 2.80657561e-01 1.53052744e-01 6.53480503e+01] [-2.76319816e-01 9.59797535e-01 -4.93563672e-02 -1.12639934e+01] [-1.60751884e-01 4.47495256e-03 9.86984704e-01 -9.52170605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:-11.27, Z:-9.53 [[ 9.47650888e-01 2.78830571e-01 1.55599829e-01 6.53749804e+01] [-2.75058191e-01 9.60340169e-01 -4.57137962e-02 -1.12738707e+01] [-1.62175170e-01 5.21712095e-04 9.86761847e-01 -9.52722431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:-11.28, Z:-9.53 [[ 9.47857393e-01 2.78520259e-01 1.54896183e-01 6.54027989e+01] [-2.74328983e-01 9.60424898e-01 -4.82454580e-02 -1.12816795e+01] [-1.62203488e-01 3.23730174e-03 9.86752020e-01 -9.53164589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.43, Y:-11.30, Z:-9.54 [[ 9.47911835e-01 2.78071055e-01 1.55369372e-01 6.54343009e+01] [-2.74351980e-01 9.60560447e-01 -4.53279030e-02 -1.12960965e+01] [-1.61846051e-01 3.40960711e-04 9.86815960e-01 -9.53709844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:-11.31, Z:-9.54 [[ 9.48221226e-01 2.77100368e-01 1.55215632e-01 6.54643104e+01] [-2.73706491e-01 9.60839865e-01 -4.32609509e-02 -1.13076389e+01] [-1.61124992e-01 -1.46257391e-03 9.86932925e-01 -9.54116160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.49, Y:-11.31, Z:-9.55 [[ 9.47866590e-01 2.79321696e-01 1.53389434e-01 6.54911808e+01] [-2.74183707e-01 9.60153070e-01 -5.41237279e-02 -1.13101221e+01] [-1.62395267e-01 9.24518989e-03 9.86682474e-01 -9.54862620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.52, Y:-11.33, Z:-9.56 [[ 9.47840771e-01 2.78276234e-01 1.55435549e-01 6.55205590e+01] [-2.74257653e-01 9.60498840e-01 -4.71669106e-02 -1.13255180e+01] [-1.62421095e-01 2.07733193e-03 9.86719348e-01 -9.55529763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:-11.35, Z:-9.55 [[ 9.48231937e-01 2.76667141e-01 1.55921410e-01 6.55498051e+01] [-2.74468545e-01 9.60925895e-01 -3.58948782e-02 -1.13459005e+01] [-1.59759854e-01 -8.75885280e-03 9.87117051e-01 -9.55494160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:-11.35, Z:-9.56 [[ 9.48106883e-01 2.78776893e-01 1.52894676e-01 6.55815194e+01] [-2.74710943e-01 9.60350989e-01 -4.75381416e-02 -1.13507928e+01] [-1.60085089e-01 3.06939857e-03 9.87098447e-01 -9.56115951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:-11.36, Z:-9.57 [[ 9.48202559e-01 2.78924529e-01 1.52029646e-01 6.56113922e+01] [-2.74963555e-01 9.60309276e-01 -4.69162852e-02 -1.13623476e+01] [-1.59081582e-01 2.68352970e-03 9.87261793e-01 -9.56503435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:-11.37, Z:-9.57 [[ 9.47040742e-01 2.82714124e-01 1.52271326e-01 6.56402888e+01] [-2.77098499e-01 9.59127457e-01 -5.73667464e-02 -1.13685819e+01] [-1.62265999e-01 1.21344903e-02 9.86672438e-01 -9.57361444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:-11.39, Z:-9.58 [[ 9.46528079e-01 2.82777850e-01 1.55310280e-01 6.56674415e+01] [-2.78805594e-01 9.59184372e-01 -4.72523200e-02 -1.13851694e+01] [-1.62333103e-01 1.42427290e-03 9.86734987e-01 -9.57937978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:-11.40, Z:-9.59 [[ 9.45792516e-01 2.84385928e-01 1.56847573e-01 6.56955607e+01] [-2.80806945e-01 9.58708738e-01 -4.50001705e-02 -1.13970422e+01] [-1.63168554e-01 -1.48306321e-03 9.86597093e-01 -9.58508746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.72, Y:-11.40, Z:-9.59 [[ 9.45077756e-01 2.87648904e-01 1.55197113e-01 6.57249331e+01] [-2.83289222e-01 9.57730286e-01 -4.99991583e-02 -1.14045538e+01] [-1.63019178e-01 3.28742296e-03 9.86617423e-01 -9.58876140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:-11.42, Z:-9.59 [[ 9.43438934e-01 2.92610683e-01 1.55890880e-01 6.57522908e+01] [-2.88736705e-01 9.56231631e-01 -4.74571777e-02 -1.14174749e+01] [-1.62954267e-01 -2.38469839e-04 9.86633595e-01 -9.59343565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:-11.43, Z:-9.60 [[ 9.42673592e-01 2.95049824e-01 1.55923381e-01 6.57812100e+01] [-2.91207349e-01 9.55481641e-01 -4.74669798e-02 -1.14275227e+01] [-1.62987052e-01 -6.60166054e-04 9.86627987e-01 -9.59931425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:-11.44, Z:-9.60 [[ 9.42938004e-01 2.95208906e-01 1.54011764e-01 6.58086291e+01] [-2.92736150e-01 9.55396756e-01 -3.90203296e-02 -1.14408142e+01] [-1.58661489e-01 -8.29105924e-03 9.87298228e-01 -9.59883737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:65.83, Y:-11.44, Z:-9.61 [[ 9.41517619e-01 2.98342294e-01 1.56641144e-01 6.58339421e+01] [-2.94348429e-01 9.54458897e-01 -4.86540461e-02 -1.14445711e+01] [-1.64023094e-01 -2.98433037e-04 9.86456454e-01 -9.61224256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:65.86, Y:-11.45, Z:-9.62 [[ 9.41470668e-01 3.01015783e-01 1.51731605e-01 6.58617434e+01] [-2.96189057e-01 9.53600837e-01 -5.40137565e-02 -1.14520118e+01] [-1.60950378e-01 5.91112652e-03 9.86944798e-01 -9.61625329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:-11.48, Z:-9.62 [[ 9.42003792e-01 2.96360011e-01 1.57478884e-01 6.58856715e+01] [-2.95458440e-01 9.54895271e-01 -2.96535103e-02 -1.14754945e+01] [-1.59163957e-01 -1.85947464e-02 9.87077034e-01 -9.61681684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:-11.48, Z:-9.62 [[ 9.42032877e-01 3.00344553e-01 1.49556708e-01 6.59189616e+01] [-2.95943478e-01 9.53821719e-01 -5.13963674e-02 -1.14752413e+01] [-1.58087055e-01 4.15673551e-03 9.87416429e-01 -9.62078534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:-11.49, Z:-9.63 [[ 9.41775587e-01 2.98356264e-01 1.55055743e-01 6.59448880e+01] [-2.95700411e-01 9.54423203e-01 -4.04674675e-02 -1.14920950e+01] [-1.60062521e-01 -7.73877381e-03 9.87076543e-01 -9.62860222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.98, Y:-11.49, Z:-9.63 [[ 9.41520949e-01 3.03059129e-01 1.47287024e-01 6.59754485e+01] [-2.96420212e-01 9.52798960e-01 -6.56444999e-02 -1.14867939e+01] [-1.60229089e-01 1.81468208e-02 9.86913032e-01 -9.63493834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:-11.51, Z:-9.64 [[ 9.41603883e-01 2.99950497e-01 1.53009240e-01 6.59990374e+01] [-2.96314053e-01 9.53953633e-01 -4.65880561e-02 -1.15072402e+01] [-1.59937831e-01 -1.47129345e-03 9.87125993e-01 -9.64133841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.03, Y:-11.52, Z:-9.65 [[ 9.41387691e-01 3.00298184e-01 1.53656158e-01 6.60267504e+01] [-2.96636670e-01 9.53844124e-01 -4.67768340e-02 -1.15176621e+01] [-1.60611022e-01 -1.54491542e-03 9.87016572e-01 -9.64660909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.06, Y:-11.53, Z:-9.65 [[ 9.41802071e-01 2.98885493e-01 1.53871117e-01 6.60560098e+01] [-2.97064390e-01 9.54206868e-01 -3.52420445e-02 -1.15340776e+01] [-1.57358213e-01 -1.25185990e-02 9.87462241e-01 -9.64721208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:-11.54, Z:-9.65 [[ 9.41527090e-01 3.01270722e-01 1.50873093e-01 6.60873529e+01] [-2.97478308e-01 9.53538647e-01 -4.76519074e-02 -1.15363840e+01] [-1.58219449e-01 -1.59106814e-05 9.87403973e-01 -9.65025506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:-11.55, Z:-9.66 [[ 9.41256933e-01 3.01597763e-01 1.51901859e-01 6.61151877e+01] [-2.97935487e-01 9.53434577e-01 -4.68716646e-02 -1.15460798e+01] [-1.58964874e-01 -1.13867502e-03 9.87283582e-01 -9.65583415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:-11.57, Z:-9.67 [[ 9.40499065e-01 2.97521396e-01 1.64141790e-01 6.61388673e+01] [-2.97173497e-01 9.54434497e-01 -2.72525822e-02 -1.15685961e+01] [-1.64770813e-01 -2.31475617e-02 9.86060226e-01 -9.66587658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:-11.56, Z:-9.66 [[ 9.40850986e-01 3.04376443e-01 1.48843553e-01 6.61743695e+01] [-2.97797667e-01 9.52399765e-01 -6.52015052e-02 -1.15559776e+01] [-1.61604367e-01 1.70196376e-02 9.86708853e-01 -9.66457119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:-11.57, Z:-9.68 [[ 9.40487841e-01 3.02717202e-01 1.54417993e-01 6.62016358e+01] [-2.96953664e-01 9.53025048e-01 -5.96806479e-02 -1.15698218e+01] [-1.65230574e-01 1.02739350e-02 9.86201452e-01 -9.67742443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:-11.59, Z:-9.68 [[ 9.41329008e-01 2.98594473e-01 1.57292844e-01 6.62281934e+01] [-2.94723334e-01 9.54379290e-01 -4.79408762e-02 -1.15883907e+01] [-1.64431914e-01 -1.22973412e-03 9.86387669e-01 -9.68459533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:-11.61, Z:-9.68 [[ 9.42376777e-01 2.95335056e-01 1.57172565e-01 6.62567417e+01] [-2.93452102e-01 9.55310918e-01 -3.55937250e-02 -1.16060395e+01] [-1.60660742e-01 -1.25799198e-02 9.86929517e-01 -9.68460329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.29, Y:-11.60, Z:-9.69 [[ 9.42371998e-01 2.97671833e-01 1.52730145e-01 6.62893079e+01] [-2.91997035e-01 9.54606363e-01 -5.88593446e-02 -1.16030010e+01] [-1.63317937e-01 1.08706486e-02 9.86513599e-01 -9.69476027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:-11.62, Z:-9.70 [[ 9.42750099e-01 2.94436886e-01 1.56617911e-01 6.63177528e+01] [-2.90549804e-01 9.55670770e-01 -4.76884744e-02 -1.16201119e+01] [-1.63716406e-01 -5.46989411e-04 9.86507293e-01 -9.70065725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:-11.63, Z:-9.70 [[ 9.43907228e-01 2.92395566e-01 1.53440470e-01 6.63482269e+01] [-2.89070368e-01 9.56293455e-01 -4.40584982e-02 -1.16339451e+01] [-1.59616627e-01 -2.76795817e-03 9.87175198e-01 -9.70181336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:-11.64, Z:-9.71 [[ 9.43056442e-01 2.94005044e-01 1.55581429e-01 6.63769689e+01] [-2.89559117e-01 9.55798928e-01 -5.10286815e-02 -1.16411508e+01] [-1.63707253e-01 3.07290555e-03 9.86504178e-01 -9.71082816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:-11.65, Z:-9.72 [[ 9.42888361e-01 2.94009945e-01 1.56587647e-01 6.64061364e+01] [-2.90096167e-01 9.55802299e-01 -4.78140035e-02 -1.16530960e+01] [-1.63724626e-01 -3.42208899e-04 9.86506021e-01 -9.71608743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.44, Y:-11.66, Z:-9.72 [[ 9.42422145e-01 2.96064564e-01 1.55519369e-01 6.64373279e+01] [-2.92228778e-01 9.55167691e-01 -4.75081319e-02 -1.16626682e+01] [-1.62612551e-01 -6.74519544e-04 9.86689771e-01 -9.72232835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.47, Y:-11.67, Z:-9.73 [[ 9.41935756e-01 2.97406267e-01 1.55905557e-01 6.64687154e+01] [-2.93564118e-01 9.54750618e-01 -4.76588425e-02 -1.16726100e+01] [-1.63024966e-01 -8.76709453e-04 9.86621555e-01 -9.72824807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:-11.68, Z:-9.73 [[ 9.41513910e-01 2.98879570e-01 1.55635985e-01 6.64983352e+01] [-2.95065205e-01 9.54290207e-01 -4.76101412e-02 -1.16823128e+01] [-1.62751595e-01 -1.09715362e-03 9.86666466e-01 -9.73401215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:-11.69, Z:-9.74 [[ 9.40895355e-01 3.01114145e-01 1.55068382e-01 6.65283924e+01] [-2.97352652e-01 9.53587005e-01 -4.74681317e-02 -1.16931495e+01] [-1.62164520e-01 -1.44745001e-03 9.86762673e-01 -9.73946617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.56, Y:-11.70, Z:-9.75 [[ 9.40721386e-01 3.02040551e-01 1.54320379e-01 6.65581303e+01] [-2.98324398e-01 9.53293771e-01 -4.72603441e-02 -1.17024432e+01] [-1.61387196e-01 -1.57871775e-03 9.86889903e-01 -9.74533426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:-11.72, Z:-9.74 [[ 9.41042571e-01 3.00906070e-01 1.54578191e-01 6.65878245e+01] [-2.98905995e-01 9.53581056e-01 -3.65838254e-02 -1.17178397e+01] [-1.58411130e-01 -1.17774110e-02 9.87302996e-01 -9.74494715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.62, Y:-11.72, Z:-9.76 [[ 9.40296742e-01 3.04718996e-01 1.51619162e-01 6.66202752e+01] [-2.99422256e-01 9.52405501e-01 -5.71845712e-02 -1.17158438e+01] [-1.61828149e-01 8.37231448e-03 9.86783439e-01 -9.75537062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:-11.73, Z:-9.76 [[ 9.40151498e-01 3.02944539e-01 1.56012074e-01 6.66477332e+01] [-2.99151339e-01 9.53006649e-01 -4.78205353e-02 -1.17312070e+01] [-1.63167514e-01 -1.71267280e-03 9.86596893e-01 -9.75993949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:-11.75, Z:-9.76 [[ 9.40799287e-01 3.00955788e-01 1.55956131e-01 6.66767809e+01] [-2.98512405e-01 9.53591130e-01 -3.94246198e-02 -1.17454407e+01] [-1.60583450e-01 -9.46418557e-03 9.86976892e-01 -9.76136699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:-11.75, Z:-9.77 [[ 9.41009218e-01 3.01464122e-01 1.53691360e-01 6.67079812e+01] [-2.97866740e-01 9.53475332e-01 -4.64779219e-02 -1.17517994e+01] [-1.60552346e-01 -2.04339137e-03 9.87025212e-01 -9.76622893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:-11.76, Z:-9.77 [[ 9.41142924e-01 3.00872008e-01 1.54032566e-01 6.67370751e+01] [-2.97325849e-01 9.53661528e-01 -4.61197277e-02 -1.17624068e+01] [-1.60771068e-01 -2.39260815e-03 9.86988824e-01 -9.77127534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:66.77, Y:-11.77, Z:-9.78 [[ 9.41032340e-01 3.02163570e-01 1.52168697e-01 6.67681442e+01] [-2.96776557e-01 9.53214053e-01 -5.75034353e-02 -1.17675506e+01] [-1.62424783e-01 8.95249036e-03 9.86680314e-01 -9.78012155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:-11.79, Z:-9.78 [[ 9.41301936e-01 2.98216968e-01 1.58168598e-01 6.67936414e+01] [-2.96517708e-01 9.54393270e-01 -3.47956188e-02 -1.17904529e+01] [-1.61331689e-01 -1.41466067e-02 9.86798845e-01 -9.78276958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:-11.79, Z:-9.79 [[ 9.40906520e-01 3.02840557e-01 1.51599860e-01 6.68283670e+01] [-2.97061504e-01 9.52973124e-01 -5.99723853e-02 -1.17862935e+01] [-1.62632663e-01 1.13939260e-02 9.86620898e-01 -9.79059663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.86, Y:-11.80, Z:-9.80 [[ 9.40918166e-01 3.00889381e-01 1.55365970e-01 6.68575831e+01] [-2.97075487e-01 9.53658284e-01 -4.77706193e-02 -1.18032957e+01] [-1.62539717e-01 -1.20717780e-03 9.86701263e-01 -9.79688306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:-11.81, Z:-9.80 [[ 9.40700414e-01 3.02173727e-01 1.54187449e-01 6.68875782e+01] [-2.98432691e-01 9.53251838e-01 -4.74221763e-02 -1.18142228e+01] [-1.61309204e-01 -1.40451424e-03 9.86902917e-01 -9.80203263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:-11.83, Z:-9.81 [[ 9.40307328e-01 3.02131596e-01 1.56648102e-01 6.69162747e+01] [-2.99044968e-01 9.53247630e-01 -4.34863435e-02 -1.18266425e+01] [-1.62463031e-01 -5.95429927e-03 9.86696666e-01 -9.80828976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:-11.84, Z:-9.81 [[ 9.40627862e-01 3.02116329e-01 1.54741553e-01 6.69457033e+01] [-3.00068295e-01 9.53200067e-01 -3.69952754e-02 -1.18397284e+01] [-1.58676536e-01 -1.16342472e-02 9.87262073e-01 -9.80692993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.98, Y:-11.84, Z:-9.82 [[ 9.39777111e-01 3.07342249e-01 1.49531677e-01 6.69789941e+01] [-3.01446809e-01 9.51517952e-01 -6.11833998e-02 -1.18357302e+01] [-1.61086319e-01 1.24229118e-02 9.86862133e-01 -9.81725926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:-11.86, Z:-9.82 [[ 9.39868989e-01 3.04251944e-01 1.55167772e-01 6.70035891e+01] [-3.02811035e-01 9.52464316e-01 -3.34245862e-02 -1.18608491e+01] [-1.57961261e-01 -1.55717817e-02 9.87322521e-01 -9.81697897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:-11.86, Z:-9.82 [[ 9.39538564e-01 3.07254629e-01 1.51201456e-01 6.70356006e+01] [-3.03826552e-01 9.51623061e-01 -4.58582064e-02 -1.18629261e+01] [-1.57976939e-01 -2.85346384e-03 9.87438679e-01 -9.82180810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:-11.87, Z:-9.83 [[ 9.38574338e-01 3.10769373e-01 1.50002032e-01 6.70679035e+01] [-3.05013527e-01 9.50420704e-01 -6.05576909e-02 -1.18655380e+01] [-1.61384513e-01 1.10852457e-02 9.86829345e-01 -9.83259166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:-11.88, Z:-9.84 [[ 9.38515740e-01 3.08851378e-01 1.54269348e-01 6.70937559e+01] [-3.05170663e-01 9.51107273e-01 -4.76006480e-02 -1.18819148e+01] [-1.61428224e-01 -2.40452169e-03 9.86881526e-01 -9.83779851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:-11.89, Z:-9.84 [[ 9.38445254e-01 3.08900006e-01 1.54600423e-01 6.71229687e+01] [-3.05204382e-01 9.51091441e-01 -4.77006992e-02 -1.18902879e+01] [-1.61773886e-01 -2.42023189e-03 9.86824884e-01 -9.84275175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:-11.90, Z:-9.85 [[ 9.38855754e-01 3.07477237e-01 1.54943929e-01 6.71512569e+01] [-3.03745809e-01 9.51552939e-01 -4.78067669e-02 -1.18980529e+01] [-1.62136844e-01 -2.17991093e-03 9.86765875e-01 -9.84744922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:-11.91, Z:-9.85 [[ 9.39341247e-01 3.05938500e-01 1.55047273e-01 6.71799081e+01] [-3.02181583e-01 9.52049346e-01 -4.78365331e-02 -1.19079728e+01] [-1.62247692e-01 -1.91760187e-03 9.86748199e-01 -9.85294701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:-11.92, Z:-9.86 [[ 9.40030061e-01 3.04069064e-01 1.54549308e-01 6.72086532e+01] [-3.00311306e-01 9.52648664e-01 -4.76827245e-02 -1.19182863e+01] [-1.61730033e-01 -1.58971014e-03 9.86833760e-01 -9.85770698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:67.24, Y:-11.93, Z:-9.86 [[ 9.40832840e-01 3.01580770e-01 1.54539985e-01 6.72388377e+01] [-2.97789608e-01 9.53439928e-01 -4.76828361e-02 -1.19284844e+01] [-1.61724819e-01 -1.15882346e-03 9.86835214e-01 -9.86428810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:-11.95, Z:-9.87 [[ 9.42699161e-01 2.94875481e-01 1.56098504e-01 6.72640931e+01] [-2.93173947e-01 9.55441938e-01 -3.43473317e-02 -1.19474016e+01] [-1.59271243e-01 -1.33848139e-02 9.87144122e-01 -9.86541070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:-11.95, Z:-9.87 [[ 9.43413578e-01 2.95999563e-01 1.49516153e-01 6.72998882e+01] [-2.90281324e-01 9.55106591e-01 -5.92296590e-02 -1.19456060e+01] [-1.60335817e-01 1.24763174e-02 9.86983671e-01 -9.87407790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:-11.96, Z:-9.88 [[ 9.44169711e-01 2.91740628e-01 1.53071759e-01 6.73274125e+01] [-2.87881682e-01 9.56497285e-01 -4.72977828e-02 -1.19645245e+01] [-1.60211407e-01 5.90578348e-04 9.87082548e-01 -9.87968551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:-11.99, Z:-9.88 [[ 9.45425021e-01 2.86183869e-01 1.55789355e-01 6.73515438e+01] [-2.84968533e-01 9.58049392e-01 -3.05662751e-02 -1.19870625e+01] [-1.58001471e-01 -1.54969425e-02 9.87317264e-01 -9.87857252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:67.39, Y:-11.98, Z:-9.89 [[ 9.45552896e-01 2.89782178e-01 1.48175607e-01 6.73891004e+01] [-2.83523122e-01 9.56944800e-01 -6.22196840e-02 -1.19817460e+01] [-1.59826032e-01 1.68207916e-02 9.87001875e-01 -9.88988933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:-12.00, Z:-9.90 [[ 9.45656063e-01 2.87381985e-01 1.52138771e-01 6.74152737e+01] [-2.83502659e-01 9.57815046e-01 -4.70805758e-02 -1.20034191e+01] [-1.59250913e-01 1.39028577e-03 9.87237162e-01 -9.89500429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:-12.02, Z:-9.90 [[ 9.45610492e-01 2.87648448e-01 1.51918295e-01 6.74441636e+01] [-2.83778853e-01 9.57735080e-01 -4.70433751e-02 -1.20156761e+01] [-1.59029434e-01 1.37350970e-03 9.87272887e-01 -9.90018612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.47, Y:-12.03, Z:-9.91 [[ 9.45124406e-01 2.89632955e-01 1.51170790e-01 6.74738113e+01] [-2.85822158e-01 9.57137201e-01 -4.68409177e-02 -1.20291809e+01] [-1.58257860e-01 1.06253318e-03 9.87397246e-01 -9.90522933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:-12.04, Z:-9.91 [[ 9.44619037e-01 2.91285581e-01 1.51154175e-01 6.75037637e+01] [-2.87491512e-01 9.56635795e-01 -4.68677632e-02 -1.20396413e+01] [-1.58251398e-01 8.16638979e-04 9.87398515e-01 -9.91043431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:-12.05, Z:-9.92 [[ 9.43983067e-01 2.93113836e-01 1.51592373e-01 6.75335700e+01] [-2.89316168e-01 9.56077396e-01 -4.70336952e-02 -1.20498315e+01] [-1.58720268e-01 5.40887479e-04 9.87323444e-01 -9.91554675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:67.56, Y:-12.06, Z:-9.92 [[ 9.43345316e-01 2.94889962e-01 1.52116816e-01 6.75649293e+01] [-2.91084248e-01 9.55531181e-01 -4.72241768e-02 -1.20600851e+01] [-1.59278297e-01 2.69896860e-04 9.87233686e-01 -9.92114355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:-12.07, Z:-9.93 [[ 9.42092581e-01 2.99471573e-01 1.50924966e-01 6.75951573e+01] [-2.95778683e-01 9.54105108e-01 -4.68872325e-02 -1.20729268e+01] [-1.58039674e-01 -4.68273892e-04 9.87432652e-01 -9.92613236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:-12.08, Z:-9.93 [[ 9.41420959e-01 3.01738192e-01 1.50600936e-01 6.76246128e+01] [-2.98086441e-01 9.53390467e-01 -4.68090861e-02 -1.20836980e+01] [-1.57705586e-01 -8.25042481e-04 9.87485832e-01 -9.93163600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:-12.10, Z:-9.94 [[ 9.39804314e-01 3.06831203e-01 1.50407663e-01 6.76535347e+01] [-3.03250433e-01 9.51762504e-01 -4.67686877e-02 -1.20957952e+01] [-1.57502467e-01 -1.65777461e-03 9.87517202e-01 -9.93623333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:-12.11, Z:-9.94 [[ 9.38669230e-01 3.07890630e-01 1.55252813e-01 6.76766368e+01] [-3.06903373e-01 9.51239034e-01 -3.08969097e-02 -1.21139594e+01] [-1.57195405e-01 -1.86456337e-02 9.87391485e-01 -9.93795546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:-12.11, Z:-9.95 [[ 9.38108898e-01 3.14332804e-01 1.45418650e-01 6.77149570e+01] [-3.08570590e-01 9.49229878e-01 -6.12113592e-02 -1.21064602e+01] [-1.57276465e-01 1.25510022e-02 9.87474853e-01 -9.94660732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:-12.12, Z:-9.95 [[ 9.37567094e-01 3.13919612e-01 1.49741180e-01 6.77424637e+01] [-3.10450028e-01 9.49445519e-01 -4.66260346e-02 -1.21240614e+01] [-1.56807919e-01 -2.77211768e-03 9.87625229e-01 -9.95255229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:-12.13, Z:-9.96 [[ 9.37173224e-01 3.15231480e-01 1.49450537e-01 6.77710036e+01] [-3.11787506e-01 9.49010201e-01 -4.65638191e-02 -1.21323738e+01] [-1.56508466e-01 -2.95844590e-03 9.87672186e-01 -9.95713898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.80, Y:-12.14, Z:-9.96 [[ 9.36788645e-01 3.16622386e-01 1.48920446e-01 6.78024486e+01] [-3.13219193e-01 9.48546363e-01 -4.64061842e-02 -1.21414219e+01] [-1.55951184e-01 -3.17195542e-03 9.87759671e-01 -9.96336622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:-12.15, Z:-9.97 [[ 9.36847640e-01 3.16633375e-01 1.48525435e-01 6.78330683e+01] [-3.13243523e-01 9.48542818e-01 -4.63143412e-02 -1.21513395e+01] [-1.55547401e-01 -3.13514936e-03 9.87823454e-01 -9.96856928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:67.86, Y:-12.17, Z:-9.97 [[ 9.36527620e-01 3.15077740e-01 1.53759665e-01 6.78560047e+01] [-3.13929390e-01 9.48895456e-01 -3.23380730e-02 -1.21680899e+01] [-1.56090854e-01 -1.79841794e-02 9.87578966e-01 -9.97127623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.89, Y:-12.16, Z:-9.98 [[ 9.37515791e-01 3.16547906e-01 1.44435330e-01 6.78935221e+01] [-3.11169476e-01 9.48519567e-01 -5.90270084e-02 -1.21622542e+01] [-1.55684613e-01 1.03948866e-02 9.87752119e-01 -9.97802481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:-12.18, Z:-9.98 [[ 9.37831264e-01 3.13409209e-01 1.49154914e-01 6.79216422e+01] [-3.09943723e-01 9.49614681e-01 -4.65494014e-02 -1.21781868e+01] [-1.56228707e-01 -2.57414534e-03 9.87717553e-01 -9.98327377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:-12.19, Z:-9.99 [[ 9.38093160e-01 3.12545942e-01 1.49319316e-01 6.79529157e+01] [-3.09058931e-01 9.49899575e-01 -4.66194774e-02 -1.21880403e+01] [-1.56409083e-01 -2.41505538e-03 9.87689408e-01 -9.98811604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:-12.20, Z:-9.99 [[ 9.38445469e-01 3.11097327e-01 1.50128464e-01 6.79833013e+01] [-3.07548671e-01 9.50375615e-01 -4.69042085e-02 -1.21974781e+01] [-1.57270205e-01 -2.15476753e-03 9.87553259e-01 -9.99298630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:-12.21, Z:-10.00 [[ 9.38760507e-01 3.10156062e-01 1.50106384e-01 6.80146647e+01] [-3.06591782e-01 9.50683619e-01 -4.69269226e-02 -1.22066556e+01] [-1.57258350e-01 -1.96824223e-03 9.87555536e-01 -9.99765762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:-12.22, Z:-10.00 [[ 9.39050480e-01 3.09104030e-01 1.50462271e-01 6.80447508e+01] [-3.05504264e-01 9.51026593e-01 -4.70697795e-02 -1.22157558e+01] [-1.57643079e-01 -1.76596628e-03 9.87494578e-01 -1.00029875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.08, Y:-12.22, Z:-10.01 [[ 9.40210919e-01 3.05346967e-01 1.50886241e-01 6.80751511e+01] [-3.01674170e-01 9.52240512e-01 -4.72303089e-02 -1.22247610e+01] [-1.58101623e-01 -1.11202935e-03 9.87422220e-01 -1.00090182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.11, Y:-12.23, Z:-10.01 [[ 9.40654841e-01 3.03847137e-01 1.51146906e-01 6.81054783e+01] [-3.00139286e-01 9.52720424e-01 -4.73307797e-02 -1.22340855e+01] [-1.58382066e-01 -8.43197391e-04 9.87377542e-01 -1.00147232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.14, Y:-12.24, Z:-10.02 [[ 9.41097104e-01 3.02587229e-01 1.50921206e-01 6.81361731e+01] [-2.98869813e-01 9.53121506e-01 -4.72887818e-02 -1.22443320e+01] [-1.58155229e-01 -6.02457186e-04 9.87414078e-01 -1.00191467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.17, Y:-12.25, Z:-10.02 [[ 9.42699664e-01 2.97910261e-01 1.50222570e-01 6.81659084e+01] [-2.94163426e-01 9.54593857e-01 -4.71003899e-02 -1.22542539e+01] [-1.57433232e-01 2.11535867e-04 9.87529611e-01 -1.00243043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:-12.27, Z:-10.03 [[ 9.42789382e-01 2.95244398e-01 1.54851308e-01 6.81892040e+01] [-2.93249721e-01 9.55354048e-01 -3.61004887e-02 -1.22688262e+01] [-1.58596291e-01 -1.13749453e-02 9.87277989e-01 -1.00267169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:-12.27, Z:-10.03 [[ 9.43299358e-01 2.95041879e-01 1.52107237e-01 6.82217362e+01] [-2.91405246e-01 9.55484023e-01 -4.61872824e-02 -1.22738070e+01] [-1.58963217e-01 -7.56412901e-04 9.87284216e-01 -1.00323287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:-12.28, Z:-10.04 [[ 9.44428634e-01 2.93595608e-01 1.47838336e-01 6.82573240e+01] [-2.88162862e-01 9.55859157e-01 -5.74058938e-02 -1.22794488e+01] [-1.58166746e-01 1.16142518e-02 9.87344109e-01 -1.00406694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:-12.30, Z:-10.05 [[ 9.45501232e-01 2.88689461e-01 1.50618112e-01 6.82843480e+01] [-2.84791340e-01 9.57421013e-01 -4.73169743e-02 -1.22980530e+01] [-1.57864857e-01 1.84352355e-03 9.87459006e-01 -1.00460611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.31, Y:-12.31, Z:-10.05 [[ 9.45839666e-01 2.87659023e-01 1.50464658e-01 6.83136862e+01] [-2.83751477e-01 9.57730715e-01 -4.72966863e-02 -1.23088704e+01] [-1.57709943e-01 2.04051300e-03 9.87483372e-01 -1.00517314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:-12.32, Z:-10.06 [[ 9.45798358e-01 2.87803447e-01 1.50448135e-01 6.83436149e+01] [-2.83894185e-01 9.57687320e-01 -4.73190178e-02 -1.23212609e+01] [-1.57700848e-01 2.04289856e-03 9.87484820e-01 -1.00560916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:-12.33, Z:-10.06 [[ 9.45772222e-01 2.88091202e-01 1.50061197e-01 6.83741477e+01] [-2.84201118e-01 9.57600850e-01 -4.72264413e-02 -1.23323031e+01] [-1.57304252e-01 2.01789630e-03 9.87548126e-01 -1.00611546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:-12.34, Z:-10.07 [[ 9.45541439e-01 2.88845013e-01 1.50066471e-01 6.84041778e+01] [-2.84959413e-01 9.57373944e-01 -4.72574284e-02 -1.23440072e+01] [-1.57319802e-01 1.92100325e-03 9.87545842e-01 -1.00673552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:-12.36, Z:-10.07 [[ 9.45314481e-01 2.89737438e-01 1.49775661e-01 6.84338231e+01] [-2.85873474e-01 9.57104481e-01 -4.71950197e-02 -1.23561090e+01] [-1.57025120e-01 1.79724711e-03 9.87592974e-01 -1.00731356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:-12.37, Z:-10.08 [[ 9.44825121e-01 2.91029386e-01 1.50357532e-01 6.84621404e+01] [-2.87147014e-01 9.56712750e-01 -4.74057556e-02 -1.23700061e+01] [-1.57645436e-01 1.61543245e-03 9.87494459e-01 -1.00783685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12587156000001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:68.49, Y:-12.38, Z:-10.09 [[ 9.44659715e-01 2.91177752e-01 1.51107707e-01 6.84927563e+01] [-2.87253795e-01 9.56667589e-01 -4.76695098e-02 -1.23810413e+01] [-1.58440146e-01 1.62520339e-03 9.87367246e-01 -1.00850332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:-12.39, Z:-10.09 [[ 9.44352097e-01 2.92323018e-01 1.50818995e-01 6.85233564e+01] [-2.88424040e-01 9.56318528e-01 -4.76072071e-02 -1.23938526e+01] [-1.58147681e-01 1.45814209e-03 9.87414394e-01 -1.00891164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.55, Y:-12.41, Z:-10.10 [[ 9.43840387e-01 2.94036246e-01 1.50691770e-01 6.85517193e+01] [-2.90160569e-01 9.55793516e-01 -4.75983062e-02 -1.24073031e+01] [-1.58025844e-01 1.20039411e-03 9.87434247e-01 -1.00950332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.58, Y:-12.42, Z:-10.10 [[ 9.43656637e-01 2.95016402e-01 1.49924896e-01 6.85823130e+01] [-2.91188066e-01 9.55491602e-01 -4.73846810e-02 -1.24194722e+01] [-1.57231237e-01 1.05852824e-03 9.87561247e-01 -1.01004094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:-12.43, Z:-10.11 [[ 9.43226449e-01 2.96414568e-01 1.49874179e-01 6.86122096e+01] [-2.92601400e-01 9.55058989e-01 -4.73998826e-02 -1.24317007e+01] [-1.57188697e-01 8.55428432e-04 9.87568216e-01 -1.01068058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.64, Y:-12.44, Z:-10.11 [[ 9.42877101e-01 2.97569495e-01 1.49783735e-01 6.86429038e+01] [-2.93770486e-01 9.54699909e-01 -4.74023817e-02 -1.24438033e+01] [-1.57104021e-01 6.92579697e-04 9.87581818e-01 -1.01129079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:-12.46, Z:-10.12 [[ 9.42315883e-01 2.99578347e-01 1.49310384e-01 6.86716073e+01] [-2.95823534e-01 9.54071624e-01 -4.72839546e-02 -1.24570107e+01] [-1.56618050e-01 3.86895886e-04 9.87659170e-01 -1.01178149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:-12.47, Z:-10.12 [[ 9.41885972e-01 3.00883151e-01 1.49399280e-01 6.87022806e+01] [-2.97135539e-01 9.53660993e-01 -4.73411134e-02 -1.24687447e+01] [-1.56720409e-01 1.98094928e-04 9.87642989e-01 -1.01237914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:-12.48, Z:-10.13 [[ 9.41549844e-01 3.02142024e-01 1.48976808e-01 6.87326817e+01] [-2.98426440e-01 9.53262921e-01 -4.72383660e-02 -1.24804265e+01] [-1.56286763e-01 1.86576154e-05 9.87711723e-01 -1.01286103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:68.76, Y:-12.49, Z:-10.14 [[ 9.40870602e-01 3.03702392e-01 1.50091199e-01 6.87625990e+01] [-2.99945087e-01 9.52766925e-01 -4.76249095e-02 -1.24903849e+01] [-1.57465729e-01 -2.10240348e-04 9.87524430e-01 -1.01354227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:68.79, Y:-12.50, Z:-10.14 [[ 9.40845282e-01 3.03785330e-01 1.50082076e-01 6.87940355e+01] [-3.00024490e-01 9.52740487e-01 -4.76536404e-02 -1.25004985e+01] [-1.57465747e-01 -1.93595545e-04 9.87524431e-01 -1.01410824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.82, Y:-12.51, Z:-10.15 [[ 9.39480016e-01 3.07755642e-01 1.50544894e-01 6.88237249e+01] [-3.04019941e-01 9.51465052e-01 -4.78135048e-02 -1.25119740e+01] [-1.57953081e-01 -8.48817450e-04 9.87446254e-01 -1.01453571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.85, Y:-12.52, Z:-10.15 [[ 9.38912307e-01 3.09473647e-01 1.50564743e-01 6.88544902e+01] [-3.05754163e-01 9.50907372e-01 -4.78493608e-02 -1.25223387e+01] [-1.57981241e-01 -1.10944328e-03 9.87441490e-01 -1.01509870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.89, Y:-12.53, Z:-10.16 [[ 9.37987512e-01 3.12158595e-01 1.50786072e-01 6.88856733e+01] [-3.08457430e-01 9.50028769e-01 -4.79515629e-02 -1.25321001e+01] [-1.58219598e-01 -1.53311697e-03 9.87402759e-01 -1.01561318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:-12.54, Z:-10.16 [[ 9.37536054e-01 3.13555035e-01 1.50696339e-01 6.89158341e+01] [-3.09871070e-01 9.49568441e-01 -4.79551477e-02 -1.25422863e+01] [-1.58133066e-01 -1.73675599e-03 9.87416284e-01 -1.01612582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:-12.55, Z:-10.17 [[ 9.37422375e-01 3.14123800e-01 1.50218272e-01 6.89464569e+01] [-3.10465825e-01 9.49380327e-01 -4.78327014e-02 -1.25525677e+01] [-1.57639662e-01 -1.79819516e-03 9.87495065e-01 -1.01670420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:-12.56, Z:-10.17 [[ 9.37472963e-01 3.14183129e-01 1.49777852e-01 6.89773711e+01] [-3.10542485e-01 9.49360742e-01 -4.77236474e-02 -1.25634808e+01] [-1.57187177e-01 -1.77275711e-03 9.87567238e-01 -1.01727817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:-12.57, Z:-10.18 [[ 9.37724589e-01 3.13303396e-01 1.50045252e-01 6.90071611e+01] [-3.09633431e-01 9.49651741e-01 -4.78404538e-02 -1.25728656e+01] [-1.57479311e-01 -1.59785628e-03 9.87520994e-01 -1.01784800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:69.04, Y:-12.58, Z:-10.19 [[ 9.38232210e-01 3.11802252e-01 1.49998919e-01 6.90385400e+01] [-3.08110858e-01 9.50146105e-01 -4.78547722e-02 -1.25813050e+01] [-1.57442115e-01 -1.31740702e-03 9.87527339e-01 -1.01852877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:-12.59, Z:-10.19 [[ 9.38540332e-01 3.10987207e-01 1.49763156e-01 6.90688200e+01] [-3.07292099e-01 9.50413404e-01 -4.78113697e-02 -1.25916170e+01] [-1.57205635e-01 -1.14813568e-03 9.87565223e-01 -1.01900232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:-12.60, Z:-10.20 [[ 9.39735952e-01 3.07480432e-01 1.49506267e-01 6.90995277e+01] [-3.03749254e-01 9.51554255e-01 -4.77586633e-02 -1.26020425e+01] [-1.56948179e-01 -5.31884244e-04 9.87606696e-01 -1.01955186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.13, Y:-12.61, Z:-10.20 [[ 9.40234257e-01 3.05952293e-01 1.49508314e-01 6.91295255e+01] [-3.02196612e-01 9.52046813e-01 -4.77919847e-02 -1.26121691e+01] [-1.56960981e-01 -2.45244780e-04 9.87604774e-01 -1.02012012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:-12.62, Z:-10.21 [[ 9.40763612e-01 3.04299086e-01 1.49552307e-01 6.91604746e+01] [-3.00517412e-01 9.52576540e-01 -4.78249055e-02 -1.26223558e+01] [-1.57013094e-01 4.88585557e-05 9.87596520e-01 -1.02069251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:-12.63, Z:-10.21 [[ 9.41884441e-01 3.00842377e-01 1.49491015e-01 6.91902262e+01] [-2.97015179e-01 9.53673651e-01 -4.78388057e-02 -1.26330187e+01] [-1.56957582e-01 6.57526089e-04 9.87605126e-01 -1.02122703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:-12.64, Z:-10.22 [[ 9.42516773e-01 2.98933582e-01 1.49334679e-01 6.92213083e+01] [-2.95087560e-01 9.54273403e-01 -4.78079960e-02 -1.26434675e+01] [-1.56797528e-01 9.93032104e-04 9.87630269e-01 -1.02178892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:-12.65, Z:-10.22 [[ 9.43022913e-01 2.97342312e-01 1.49316227e-01 6.92512770e+01] [-2.93472182e-01 9.54770070e-01 -4.78350430e-02 -1.26535525e+01] [-1.56786047e-01 1.28938243e-03 9.87631750e-01 -1.02234287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:-12.67, Z:-10.23 [[ 9.44134938e-01 2.93775283e-01 1.49349597e-01 6.92818134e+01] [-2.89856000e-01 9.55872622e-01 -4.78647012e-02 -1.26654211e+01] [-1.56820657e-01 1.90085999e-03 9.87625267e-01 -1.02289621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:-12.68, Z:-10.23 [[ 9.44591899e-01 2.92267531e-01 1.49418319e-01 6.93110653e+01] [-2.88320598e-01 9.56334104e-01 -4.79198686e-02 -1.26766266e+01] [-1.56899256e-01 2.18434068e-03 9.87612197e-01 -1.02343927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:-12.69, Z:-10.24 [[ 9.44924844e-01 2.91107854e-01 1.49576928e-01 6.93409316e+01] [-2.87133125e-01 9.56687207e-01 -4.80016281e-02 -1.26880457e+01] [-1.57071985e-01 2.40944005e-03 9.87584217e-01 -1.02397302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.37, Y:-12.70, Z:-10.25 [[ 9.45171834e-01 2.90219753e-01 1.49742109e-01 6.93716820e+01] [-2.86220259e-01 9.56956525e-01 -4.80850648e-02 -1.26996477e+01] [-1.57251924e-01 2.58942368e-03 9.87555126e-01 -1.02462605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:-12.71, Z:-10.25 [[ 9.45331677e-01 2.90067881e-01 1.49025650e-01 6.94006908e+01] [-2.86099890e-01 9.57002452e-01 -4.78869510e-02 -1.27121037e+01] [-1.56508379e-01 2.63282965e-03 9.87673122e-01 -1.02513157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.43, Y:-12.72, Z:-10.26 [[ 9.45079206e-01 2.90898551e-01 1.49007813e-01 6.94314651e+01] [-2.86937060e-01 9.56750575e-01 -4.79109556e-02 -1.27237829e+01] [-1.56500539e-01 2.52378392e-03 9.87674649e-01 -1.02566912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.46, Y:-12.74, Z:-10.26 [[ 9.44484799e-01 2.92638603e-01 1.49369049e-01 6.94606955e+01] [-2.88674331e-01 9.56220418e-01 -4.80587520e-02 -1.27354228e+01] [-1.56893581e-01 2.27175045e-03 9.87612902e-01 -1.02621272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:-12.75, Z:-10.27 [[ 9.42897894e-01 2.97467615e-01 1.49855195e-01 6.94908200e+01] [-2.93533161e-01 9.54730727e-01 -4.82443997e-02 -1.27472526e+01] [-1.57422505e-01 1.50207400e-03 9.87530201e-01 -1.02673220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.52, Y:-12.76, Z:-10.27 [[ 9.41791601e-01 3.00862674e-01 1.50034106e-01 6.95216952e+01] [-2.96956448e-01 9.53666984e-01 -4.83337456e-02 -1.27575727e+01] [-1.57624393e-01 9.66720538e-04 9.87498666e-01 -1.02722497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.55, Y:-12.77, Z:-10.28 [[ 9.40598141e-01 3.04423399e-01 1.50338056e-01 6.95526376e+01] [-3.00541135e-01 9.52536735e-01 -4.84643610e-02 -1.27675281e+01] [-1.57956207e-01 4.02717871e-04 9.87446036e-01 -1.02779456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:-12.78, Z:-10.28 [[ 9.38422328e-01 3.10989085e-01 1.50496921e-01 6.95822416e+01] [-3.07177016e-01 9.50413247e-01 -4.85483378e-02 -1.27783351e+01] [-1.58132270e-01 -6.70350824e-04 9.87417711e-01 -1.02837098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:69.61, Y:-12.79, Z:-10.29 [[ 9.37518852e-01 3.13789494e-01 1.50314854e-01 6.96131780e+01] [-3.10017612e-01 9.49491926e-01 -4.85197232e-02 -1.27881176e+01] [-1.57947719e-01 -1.11209674e-03 9.87446850e-01 -1.02898740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.64, Y:-12.80, Z:-10.29 [[ 9.36533703e-01 3.16611651e-01 1.50537991e-01 6.96431261e+01] [-3.12859454e-01 9.48553969e-01 -4.86243752e-02 -1.27981220e+01] [-1.58188452e-01 -1.55886730e-03 9.87407709e-01 -1.02948384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:-12.81, Z:-10.30 [[ 9.35245614e-01 3.20495493e-01 1.50327244e-01 6.96743284e+01] [-3.16798833e-01 9.47247524e-01 -4.85862896e-02 -1.28074924e+01] [-1.57968796e-01 -2.18338103e-03 9.87441691e-01 -1.03005845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:-12.82, Z:-10.31 [[ 9.34646353e-01 3.22185661e-01 1.50441330e-01 6.97050627e+01] [-3.18500019e-01 9.46673356e-01 -4.86548503e-02 -1.28172565e+01] [-1.58094694e-01 -2.44048800e-03 9.87420940e-01 -1.03062479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:-12.83, Z:-10.31 [[ 9.34140804e-01 3.23589881e-01 1.50567421e-01 6.97358471e+01] [-3.19911051e-01 9.46193726e-01 -4.87273299e-02 -1.28265737e+01] [-1.58233620e-01 -2.64999480e-03 9.87398146e-01 -1.03115604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.77, Y:-12.83, Z:-10.32 [[ 9.33293779e-01 3.25948594e-01 1.50732333e-01 6.97673823e+01] [-3.22287141e-01 9.45382661e-01 -4.88121254e-02 -1.28346525e+01] [-1.58409978e-01 -3.02303977e-03 9.87368796e-01 -1.03177357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:-12.84, Z:-10.32 [[ 9.32887915e-01 3.27190563e-01 1.50553889e-01 6.97974826e+01] [-3.23548627e-01 9.44952964e-01 -4.87871037e-02 -1.28433870e+01] [-1.58229023e-01 -3.19860456e-03 9.87397258e-01 -1.03230560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:-12.85, Z:-10.33 [[ 9.32518691e-01 3.28171654e-01 1.50705861e-01 6.98282408e+01] [-3.24530138e-01 9.44612203e-01 -4.88669121e-02 -1.28516810e+01] [-1.58395331e-01 -3.33928484e-03 9.87370127e-01 -1.03283976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:-12.86, Z:-10.33 [[ 9.32032473e-01 3.29585110e-01 1.50629094e-01 6.98590508e+01] [-3.25960924e-01 9.44119196e-01 -4.88714572e-02 -1.28581974e+01] [-1.58319123e-01 -3.54941345e-03 9.87381617e-01 -1.03336606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.89, Y:-12.87, Z:-10.34 [[ 9.31972939e-01 3.29888109e-01 1.50333883e-01 6.98909304e+01] [-3.26277538e-01 9.44013303e-01 -4.88042159e-02 -1.28664913e+01] [-1.58017116e-01 -3.56636069e-03 9.87429933e-01 -1.03398454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:-12.87, Z:-10.35 [[ 9.32015885e-01 3.29817358e-01 1.50222833e-01 6.99212898e+01] [-3.26206057e-01 9.44038196e-01 -4.88005480e-02 -1.28743055e+01] [-1.57911360e-01 -3.52071215e-03 9.87447015e-01 -1.03454206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:-12.88, Z:-10.35 [[ 9.32156445e-01 3.29160346e-01 1.50790678e-01 6.99515643e+01] [-3.25508141e-01 9.44267944e-01 -4.90153054e-02 -1.28815379e+01] [-1.58520698e-01 -3.39366038e-03 9.87349822e-01 -1.03514252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:-12.89, Z:-10.36 [[ 9.33037939e-01 3.26642653e-01 1.50813734e-01 6.99841109e+01] [-3.22951642e-01 9.45143351e-01 -4.90538703e-02 -1.28869653e+01] [-1.58563684e-01 -2.93642083e-03 9.87344385e-01 -1.03568339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:-12.89, Z:-10.36 [[ 9.33775799e-01 3.24806794e-01 1.50210865e-01 7.00145223e+01] [-3.21119738e-01 9.45776812e-01 -4.88705940e-02 -1.28946932e+01] [-1.57939454e-01 -2.60149559e-03 9.87445371e-01 -1.03624771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:-12.90, Z:-10.37 [[ 9.34665730e-01 3.22381694e-01 1.49900022e-01 7.00456343e+01] [-3.18674244e-01 9.46607302e-01 -4.87989996e-02 -1.29032277e+01] [-1.57628360e-01 -2.15852354e-03 9.87496147e-01 -1.03683436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:-12.91, Z:-10.37 [[ 9.36648228e-01 3.16758093e-01 1.49513905e-01 7.00762196e+01] [-3.12993245e-01 9.48505628e-01 -4.87062789e-02 -1.29118984e+01] [-1.57242889e-01 -1.17619259e-03 9.87559259e-01 -1.03746061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:-12.92, Z:-10.38 [[ 9.37695442e-01 3.13573968e-01 1.49661697e-01 7.01075976e+01] [-3.09756407e-01 9.49563579e-01 -4.87850158e-02 -1.29218330e+01] [-1.57411007e-01 -6.13182562e-04 9.87532986e-01 -1.03805586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:-12.93, Z:-10.39 [[ 9.38893915e-01 3.10177202e-01 1.49225734e-01 7.01374997e+01] [-3.06333999e-01 9.50678759e-01 -4.86762544e-02 -1.29309429e+01] [-1.56964000e-01 -1.10766949e-05 9.87604325e-01 -1.03861849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:-12.94, Z:-10.39 [[ 9.41115219e-01 3.03527970e-01 1.48905728e-01 7.01681387e+01] [-2.99615380e-01 9.52821876e-01 -4.85911228e-02 -1.29401958e+01] [-1.56629400e-01 1.11539882e-03 9.87656816e-01 -1.03924740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:-12.95, Z:-10.40 [[ 9.42099312e-01 3.00470953e-01 1.48882818e-01 7.01977792e+01] [-2.96516440e-01 9.53789530e-01 -4.86161847e-02 -1.29495053e+01] [-1.56610625e-01 1.65507075e-03 9.87659037e-01 -1.03977640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83587156 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:70.23, Y:-12.96, Z:-10.40 [[ 9.43018307e-01 2.97484002e-01 1.49062874e-01 7.02288018e+01] [-2.93479781e-01 9.54724332e-01 -4.86936082e-02 -1.29590538e+01] [-1.56799523e-01 2.17202427e-03 9.87628064e-01 -1.04041176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:-12.97, Z:-10.41 [[ 9.44595254e-01 2.92131885e-01 1.49662178e-01 7.02590885e+01] [-2.88023101e-01 9.56373002e-01 -4.89221364e-02 -1.29699727e+01] [-1.57424582e-01 3.10545344e-03 9.87526130e-01 -1.04084317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:-12.98, Z:-10.41 [[ 9.45067812e-01 2.90300037e-01 1.50242199e-01 7.02883804e+01] [-2.86131206e-01 9.56929443e-01 -4.91423849e-02 -1.29811654e+01] [-1.58037220e-01 3.45390476e-03 9.87427115e-01 -1.04137746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.32, Y:-12.99, Z:-10.42 [[ 9.45654910e-01 2.88178636e-01 1.50631552e-01 7.03183812e+01] [-2.83956548e-01 9.57568939e-01 -4.92991460e-02 -1.29934522e+01] [-1.58447056e-01 3.84716389e-03 9.87359980e-01 -1.04184251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:70.35, Y:-13.00, Z:-10.42 [[ 9.45712192e-01 2.88050816e-01 1.50516372e-01 7.03495322e+01] [-2.83828559e-01 9.57607199e-01 -4.92930153e-02 -1.30032117e+01] [-1.58334455e-01 3.89616052e-03 9.87377851e-01 -1.04245393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.38, Y:-13.01, Z:-10.43 [[ 9.45533978e-01 2.88367201e-01 1.51029315e-01 7.03800229e+01] [-2.84114577e-01 9.57512002e-01 -4.94941683e-02 -1.30130027e+01] [-1.58884876e-01 3.88878799e-03 9.87289458e-01 -1.04294075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:-13.02, Z:-10.43 [[ 9.45337161e-01 2.88999942e-01 1.51051931e-01 7.04101641e+01] [-2.84749103e-01 9.57321522e-01 -4.95323428e-02 -1.30224005e+01] [-1.58920109e-01 3.81286249e-03 9.87284083e-01 -1.04346000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:-13.03, Z:-10.44 [[ 9.45036112e-01 2.89928182e-01 1.51156863e-01 7.04414667e+01] [-2.85678406e-01 9.57041298e-01 -4.95963824e-02 -1.30327366e+01] [-1.59042749e-01 3.68812069e-03 9.87264808e-01 -1.04406246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:-13.04, Z:-10.45 [[ 9.44436982e-01 2.91644877e-01 1.51598325e-01 7.04707224e+01] [-2.87386664e-01 9.56520477e-01 -4.97743162e-02 -1.30440191e+01] [-1.59523327e-01 3.44136790e-03 9.87188161e-01 -1.04458147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.50, Y:-13.06, Z:-10.45 [[ 9.44128478e-01 2.92715071e-01 1.51457269e-01 7.05003720e+01] [-2.88473551e-01 9.56194060e-01 -4.97587094e-02 -1.30552470e+01] [-1.59387665e-01 3.28719833e-03 9.87210599e-01 -1.04516254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:-13.07, Z:-10.46 [[ 9.43863112e-01 2.93578644e-01 1.51439774e-01 7.05312390e+01] [-2.89344339e-01 9.55929669e-01 -4.97827466e-02 -1.30671269e+01] [-1.59380924e-01 3.16985696e-03 9.87212071e-01 -1.04566572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-13.08, Z:-10.46 [[ 9.43417086e-01 2.95173117e-01 1.51119264e-01 7.05612219e+01] [-2.90971902e-01 9.55439308e-01 -4.97099746e-02 -1.30779187e+01] [-1.59058333e-01 2.92577976e-03 9.87264851e-01 -1.04617859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:-13.09, Z:-10.47 [[ 9.43098670e-01 2.96128396e-01 1.51237801e-01 7.05923814e+01] [-2.91929645e-01 9.55144080e-01 -4.97681451e-02 -1.30878337e+01] [-1.59191651e-01 2.78547392e-03 9.87243769e-01 -1.04673370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:-13.10, Z:-10.47 [[ 9.42764206e-01 2.96971550e-01 1.51669216e-01 7.06222025e+01] [-2.92754246e-01 9.54882561e-01 -4.99424393e-02 -1.30973594e+01] [-1.59657773e-01 2.68213726e-03 9.87168781e-01 -1.04722430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:-13.11, Z:-10.48 [[ 9.42076278e-01 2.98475119e-01 1.52986567e-01 7.06512498e+01] [-2.94198413e-01 9.54414197e-01 -5.04066850e-02 -1.31086799e+01] [-1.61057693e-01 2.47853699e-03 9.86941881e-01 -1.04771607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.68, Y:-13.12, Z:-10.48 [[ 9.41824897e-01 2.99007610e-01 1.53493691e-01 7.06814266e+01] [-2.94704392e-01 9.54247646e-01 -5.06038672e-02 -1.31200244e+01] [-1.61601935e-01 2.42471721e-03 9.86853047e-01 -1.04820915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.71, Y:-13.13, Z:-10.49 [[ 9.41800602e-01 2.99089113e-01 1.53483967e-01 7.07127486e+01] [-2.94782167e-01 9.54222059e-01 -5.06333427e-02 -1.31304884e+01] [-1.61601669e-01 2.44217620e-03 9.86853047e-01 -1.04877512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:-13.14, Z:-10.49 [[ 9.41569755e-01 2.99622756e-01 1.53859030e-01 7.07427656e+01] [-2.95299453e-01 9.54054815e-01 -5.07705008e-02 -1.31416176e+01] [-1.62001945e-01 2.36948072e-03 9.86787594e-01 -1.04934301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:-13.15, Z:-10.50 [[ 9.41571970e-01 3.00201345e-01 1.52713385e-01 7.07718780e+01] [-2.95945396e-01 9.53873130e-01 -5.04219542e-02 -1.31524592e+01] [-1.60805933e-01 2.28107540e-03 9.86983408e-01 -1.04992859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:-13.16, Z:-10.51 [[ 9.41482121e-01 3.00766602e-01 1.52154090e-01 7.08030662e+01] [-2.96544603e-01 9.53695230e-01 -5.02663569e-02 -1.31625485e+01] [-1.60227071e-01 2.20440218e-03 9.87077720e-01 -1.05051021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:-13.17, Z:-10.51 [[ 9.41276049e-01 3.01644647e-01 1.51690164e-01 7.08336373e+01] [-2.97454795e-01 9.53418159e-01 -5.01443851e-02 -1.31722983e+01] [-1.59749942e-01 2.07874200e-03 9.87155325e-01 -1.05106652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.86, Y:-13.18, Z:-10.52 [[ 9.40731597e-01 3.03726111e-01 1.50912264e-01 7.08646146e+01] [-2.99600919e-01 9.52757786e-01 -4.99188446e-02 -1.31820676e+01] [-1.58944491e-01 1.74678148e-03 9.87285976e-01 -1.05180676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:-13.19, Z:-10.52 [[ 9.40420841e-01 3.04854767e-01 1.50572948e-01 7.08943611e+01] [-3.00757201e-01 9.52397532e-01 -4.98402136e-02 -1.31922937e+01] [-1.58599331e-01 1.58487711e-03 9.87341755e-01 -1.05225494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:-13.20, Z:-10.53 [[ 9.40003549e-01 3.06100380e-01 1.50651533e-01 7.09242381e+01] [-3.02011082e-01 9.51998220e-01 -4.98868342e-02 -1.32022780e+01] [-1.58690371e-01 1.39536859e-03 9.87327412e-01 -1.05278932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:-13.21, Z:-10.53 [[ 9.39140122e-01 3.08641876e-01 1.50851000e-01 7.09560894e+01] [-3.04571163e-01 9.51177807e-01 -4.99718530e-02 -1.32105457e+01] [-1.58909530e-01 9.85707729e-04 9.87292657e-01 -1.05335508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.99, Y:-13.22, Z:-10.54 [[ 9.38654654e-01 3.10334277e-01 1.50399723e-01 7.09874089e+01] [-3.06304522e-01 9.50627218e-01 -4.98541181e-02 -1.32193256e+01] [-1.58445512e-01 7.27684668e-04 9.87367454e-01 -1.05404763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:-13.23, Z:-10.54 [[ 9.38290351e-01 3.11555671e-01 1.50147531e-01 7.10177103e+01] [-3.07549672e-01 9.50227740e-01 -4.98040210e-02 -1.32283176e+01] [-1.58191074e-01 5.52808500e-04 9.87408365e-01 -1.05448994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:-13.24, Z:-10.55 [[ 9.37365217e-01 3.13950359e-01 1.50935825e-01 7.10483134e+01] [-3.09927646e-01 9.49439382e-01 -5.00970506e-02 -1.32356497e+01] [-1.59032403e-01 1.80047841e-04 9.87273347e-01 -1.05500515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:-13.25, Z:-10.56 [[ 9.36927333e-01 3.14927881e-01 1.51616628e-01 7.10798290e+01] [-3.10876223e-01 9.49115603e-01 -5.03542081e-02 -1.32451859e+01] [-1.59759651e-01 4.42293032e-05 9.87155941e-01 -1.05554343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:-13.25, Z:-10.56 [[ 9.36586320e-01 3.15683611e-01 1.52150985e-01 7.11109123e+01] [-3.11607659e-01 9.48864508e-01 -5.05649280e-02 -1.32546144e+01] [-1.60333188e-01 -5.29923028e-05 9.87062949e-01 -1.05607382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:-13.26, Z:-10.57 [[ 9.36369877e-01 3.16027460e-01 1.52768115e-01 7.11423248e+01] [-3.11917274e-01 9.48750040e-01 -5.08033096e-02 -1.32637541e+01] [-1.60993996e-01 -8.03253032e-05 9.86955382e-01 -1.05662680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:71.17, Y:-13.27, Z:-10.57 [[ 9.36138157e-01 3.16636068e-01 1.52927931e-01 7.11745362e+01] [-3.12519848e-01 9.48547087e-01 -5.08897601e-02 -1.32692936e+01] [-1.61172877e-01 -1.53167455e-04 9.86926178e-01 -1.05732055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79587156000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:71.21, Y:-13.28, Z:-10.58 [[ 9.36035366e-01 3.16997900e-01 1.52807479e-01 7.12062457e+01] [-3.12887610e-01 9.48426222e-01 -5.08826663e-02 -1.32769617e+01] [-1.61056319e-01 -1.83591806e-04 9.86945200e-01 -1.05788330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:71.24, Y:-13.28, Z:-10.58 [[ 9.36110626e-01 3.16889033e-01 1.52572074e-01 7.12364869e+01] [-3.12784598e-01 9.48462611e-01 -5.08376998e-02 -1.32847808e+01] [-1.60818817e-01 -1.32483993e-04 9.86983936e-01 -1.05838471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:-13.29, Z:-10.59 [[ 9.36308632e-01 3.16379367e-01 1.52414704e-01 7.12681522e+01] [-3.12273525e-01 9.48632750e-01 -5.08050200e-02 -1.32925209e+01] [-1.60659240e-01 -2.58982770e-05 9.87009933e-01 -1.05883690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:-13.30, Z:-10.59 [[ 9.36353972e-01 3.16311572e-01 1.52276813e-01 7.12993819e+01] [-3.12207031e-01 9.48655359e-01 -5.07915378e-02 -1.33001402e+01] [-1.60524166e-01 1.69663049e-05 9.87031910e-01 -1.05938849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:-13.31, Z:-10.60 [[ 9.36531004e-01 3.15884267e-01 1.52075008e-01 7.13314885e+01] [-3.11780180e-01 9.48797721e-01 -5.07543435e-02 -1.33051724e+01] [-1.60320920e-01 1.19042703e-04 9.87064936e-01 -1.06000274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.36, Y:-13.31, Z:-10.61 [[ 9.36738276e-01 3.15369168e-01 1.51867343e-01 7.13624526e+01] [-3.11264314e-01 9.48969036e-01 -5.07178068e-02 -1.33132353e+01] [-1.60112238e-01 2.38426708e-04 9.87098786e-01 -1.06061196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:-13.32, Z:-10.61 [[ 9.37000837e-01 3.14513201e-01 1.52022620e-01 7.13927855e+01] [-3.10385515e-01 9.49253013e-01 -5.07892600e-02 -1.33212664e+01] [-1.60281823e-01 4.03959939e-04 9.87071210e-01 -1.06111506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:-13.33, Z:-10.62 [[ 9.37829479e-01 3.12177618e-01 1.51726739e-01 7.14249164e+01] [-3.08030864e-01 9.50023392e-01 -5.07202317e-02 -1.33265684e+01] [-1.59977672e-01 8.30410045e-04 9.87120284e-01 -1.06167760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:71.46, Y:-13.34, Z:-10.62 [[ 9.38173102e-01 3.11099243e-01 1.51817298e-01 7.14565354e+01] [-3.06929053e-01 9.50376861e-01 -5.07777473e-02 -1.33351926e+01] [-1.60080566e-01 1.04117731e-03 9.87103403e-01 -1.06238523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06587156 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:71.49, Y:-13.34, Z:-10.63 [[ 9.38562927e-01 3.09830589e-01 1.52002098e-01 7.14869302e+01] [-3.05628282e-01 9.50790902e-01 -5.08725254e-02 -1.33438682e+01] [-1.60284076e-01 1.29092626e-03 9.87070083e-01 -1.06294143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:-13.35, Z:-10.63 [[ 9.38944210e-01 3.08785920e-01 1.51772945e-01 7.15186047e+01] [-3.04577861e-01 9.51130389e-01 -5.08262777e-02 -1.33534011e+01] [-1.60050299e-01 1.49636026e-03 9.87107726e-01 -1.06340490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:71.55, Y:-13.36, Z:-10.64 [[ 9.39548785e-01 3.07027679e-01 1.51598432e-01 7.15495365e+01] [-3.02801363e-01 9.51698835e-01 -5.08002123e-02 -1.33603552e+01] [-1.59873123e-01 1.82506585e-03 9.87135884e-01 -1.06406764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:-13.37, Z:-10.65 [[ 9.39783704e-01 3.06295045e-01 1.51624321e-01 7.15808747e+01] [-3.02052932e-01 9.51934572e-01 -5.08389353e-02 -1.33704470e+01] [-1.59908147e-01 1.97903231e-03 9.87129914e-01 -1.06452989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.61, Y:-13.38, Z:-10.65 [[ 9.40039383e-01 3.05481587e-01 1.51680450e-01 7.16105365e+01] [-3.01220578e-01 9.52195558e-01 -5.08899065e-02 -1.33802777e+01] [-1.59975380e-01 2.14924358e-03 9.87118665e-01 -1.06505902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:-13.39, Z:-10.66 [[ 9.40622129e-01 3.03468658e-01 1.52107804e-01 7.16419904e+01] [-2.99152392e-01 9.52838068e-01 -5.10633213e-02 -1.33891264e+01] [-1.60430224e-01 2.52787650e-03 9.87043947e-01 -1.06558816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.67, Y:-13.40, Z:-10.66 [[ 9.40846046e-01 3.02591996e-01 1.52469016e-01 7.16724985e+01] [-2.98238288e-01 9.53116315e-01 -5.12173221e-02 -1.33983190e+01] [-1.60818659e-01 2.71551663e-03 9.86980235e-01 -1.06611934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:-13.41, Z:-10.67 [[ 9.41427160e-01 3.00489755e-01 1.53038591e-01 7.17033322e+01] [-2.96070624e-01 9.53779953e-01 -5.14391617e-02 -1.34086456e+01] [-1.61422081e-01 3.11599274e-03 9.86880541e-01 -1.06673761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:-13.42, Z:-10.67 [[ 9.41720164e-01 2.99586897e-01 1.53005958e-01 7.17338586e+01] [-2.95152618e-01 9.54063308e-01 -5.14600505e-02 -1.34196272e+01] [-1.61394127e-01 3.30085825e-03 9.86884512e-01 -1.06726703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:-13.43, Z:-10.68 [[ 9.41975211e-01 2.98850281e-01 1.52876455e-01 7.17638265e+01] [-2.94408459e-01 9.54293751e-01 -5.14499459e-02 -1.34304371e+01] [-1.61264876e-01 3.45645222e-03 9.86905108e-01 -1.06782777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:-13.44, Z:-10.68 [[ 9.41867948e-01 2.99145831e-01 1.52959280e-01 7.17943351e+01] [-2.94697936e-01 9.54201212e-01 -5.15089658e-02 -1.34415295e+01] [-1.61362623e-01 3.43785979e-03 9.86889196e-01 -1.06836085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:-13.45, Z:-10.69 [[ 9.41571592e-01 3.00017577e-01 1.53076422e-01 7.18240727e+01] [-2.95568810e-01 9.53927885e-01 -5.15816676e-02 -1.34528817e+01] [-1.61499274e-01 3.32321691e-03 9.86867236e-01 -1.06893785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:-13.46, Z:-10.69 [[ 9.41236679e-01 3.01150555e-01 1.52911275e-01 7.18545558e+01] [-2.96723059e-01 9.53571421e-01 -5.15458187e-02 -1.34641159e+01] [-1.61334873e-01 3.14451411e-03 9.86894711e-01 -1.06947834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:-13.47, Z:-10.70 [[ 9.39946093e-01 3.05103859e-01 1.53012998e-01 7.18853656e+01] [-3.00717087e-01 9.52315803e-01 -5.16124452e-02 -1.34745510e+01] [-1.61463852e-01 2.49929314e-03 9.86875462e-01 -1.06997124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:-13.48, Z:-10.71 [[ 9.39137999e-01 3.07644472e-01 1.52887860e-01 7.19165497e+01] [-3.03293069e-01 9.51499082e-01 -5.16024400e-02 -1.34845524e+01] [-1.61347864e-01 2.09198404e-03 9.86895380e-01 -1.07054113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:-13.49, Z:-10.71 [[ 9.37574216e-01 3.12665574e-01 1.52298483e-01 7.19465490e+01] [-3.08408183e-01 9.49862444e-01 -5.14366675e-02 -1.34928782e+01] [-1.60745085e-01 1.25559482e-03 9.86995158e-01 -1.07109833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:-13.50, Z:-10.72 [[ 9.36730247e-01 3.15240647e-01 1.52183373e-01 7.19764101e+01] [-3.11018199e-01 9.49011392e-01 -5.14301351e-02 -1.35017910e+01] [-1.60636623e-01 8.44364697e-04 9.87013253e-01 -1.07165693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:-13.51, Z:-10.72 [[ 9.35902860e-01 3.17752568e-01 1.52049803e-01 7.20062591e+01] [-3.13569834e-01 9.48173577e-01 -5.13889849e-02 -1.35102677e+01] [-1.60498588e-01 4.16866472e-04 9.87035982e-01 -1.07217060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:-13.52, Z:-10.73 [[ 9.35044265e-01 3.20200795e-01 1.52196164e-01 7.20362679e+01] [-3.16041693e-01 9.47349698e-01 -5.14412051e-02 -1.35186954e+01] [-1.60654505e-01 -5.29660267e-07 9.87010704e-01 -1.07277748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:-13.53, Z:-10.73 [[ 9.33736754e-01 3.24031613e-01 1.52115707e-01 7.20644125e+01] [-3.19922399e-01 9.46046044e-01 -5.14445448e-02 -1.35257854e+01] [-1.60578121e-01 -6.29559562e-04 9.87022933e-01 -1.07336964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:-13.53, Z:-10.74 [[ 9.33253069e-01 3.25478670e-01 1.51994557e-01 7.20903547e+01] [-3.21395364e-01 9.45548974e-01 -5.14019292e-02 -1.35336166e+01] [-1.60448529e-01 -8.79337619e-04 9.87043817e-01 -1.07383178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:-13.54, Z:-10.74 [[ 9.33019558e-01 3.26125064e-01 1.52042583e-01 7.21188639e+01] [-3.22049343e-01 9.45326103e-01 -5.14079704e-02 -1.35411656e+01] [-1.60495250e-01 -1.00057201e-03 9.87036106e-01 -1.07439002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:-13.54, Z:-10.75 [[ 9.32925890e-01 3.26565258e-01 1.51672068e-01 7.21467371e+01] [-3.22515895e-01 9.45174043e-01 -5.12789021e-02 -1.35448788e+01] [-1.60102410e-01 -1.07723742e-03 9.87099822e-01 -1.07483402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:-13.55, Z:-10.75 [[ 9.33033177e-01 3.26197601e-01 1.51803216e-01 7.21742462e+01] [-3.22138050e-01 9.45301049e-01 -5.13127902e-02 -1.35525151e+01] [-1.60237849e-01 -1.02505636e-03 9.87077900e-01 -1.07533814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:-13.56, Z:-10.76 [[ 9.33504626e-01 3.24757224e-01 1.51992957e-01 7.22018237e+01] [-3.20669797e-01 9.45797085e-01 -5.13688112e-02 -1.35587187e+01] [-1.60436888e-01 -7.86527602e-04 9.87045787e-01 -1.07582766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:-13.57, Z:-10.76 [[ 9.33768867e-01 3.23970962e-01 1.52047754e-01 7.22285776e+01] [-3.19871508e-01 9.46066795e-01 -5.13793491e-02 -1.35655528e+01] [-1.60492749e-01 -6.59307746e-04 9.87036799e-01 -1.07631909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:-13.57, Z:-10.77 [[ 9.34094069e-01 3.23077077e-01 1.51952205e-01 7.22567336e+01] [-3.18972701e-01 9.46372515e-01 -5.13369134e-02 -1.35724335e+01] [-1.60389170e-01 -5.15098979e-04 9.87053721e-01 -1.07680427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.29, Y:-13.58, Z:-10.77 [[ 9.34547966e-01 3.21855311e-01 1.51753940e-01 7.22868554e+01] [-3.17747070e-01 9.46788815e-01 -5.12614738e-02 -1.35766148e+01] [-1.60177710e-01 -3.13063683e-04 9.87088144e-01 -1.07744847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:-13.58, Z:-10.78 [[ 9.34735392e-01 3.21691858e-01 1.50944014e-01 7.23144695e+01] [-3.17625453e-01 9.46844374e-01 -5.09882672e-02 -1.35837319e+01] [-1.59323000e-01 -2.83122737e-04 9.87226469e-01 -1.07780587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:-13.59, Z:-10.78 [[ 9.34866132e-01 3.21475953e-01 1.50593912e-01 7.23418270e+01] [-3.17426726e-01 9.46917709e-01 -5.08637927e-02 -1.35908722e+01] [-1.58951528e-01 -2.51695247e-04 9.87286356e-01 -1.07834413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:-13.60, Z:-10.79 [[ 9.34939846e-01 3.21336482e-01 1.50433869e-01 7.23688263e+01] [-3.17295318e-01 9.46965052e-01 -5.08022735e-02 -1.35952846e+01] [-1.58780241e-01 -2.34892558e-04 9.87313922e-01 -1.07882738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.40, Y:-13.60, Z:-10.79 [[ 9.35040525e-01 3.21060214e-01 1.50397987e-01 7.23970989e+01] [-3.17020304e-01 9.47058761e-01 -5.07723344e-02 -1.36015287e+01] [-1.58736708e-01 -2.05025522e-04 9.87320928e-01 -1.07931854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.42, Y:-13.61, Z:-10.80 [[ 9.35219036e-01 3.20542035e-01 1.50393347e-01 7.24241392e+01] [-3.16497015e-01 9.47234284e-01 -5.07626920e-02 -1.36070805e+01] [-1.58729311e-01 -1.24809642e-04 9.87322131e-01 -1.07976384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:-13.61, Z:-10.80 [[ 9.35767640e-01 3.18656196e-01 1.50987261e-01 7.24526745e+01] [-3.14556223e-01 9.47870347e-01 -5.09528033e-02 -1.36117989e+01] [-1.59352774e-01 1.86001805e-04 9.87221687e-01 -1.08019709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:-13.62, Z:-10.81 [[ 9.36120391e-01 3.17719927e-01 1.50773541e-01 7.24789378e+01] [-3.13620858e-01 9.48184546e-01 -5.08726185e-02 -1.36191098e+01] [-1.59124387e-01 3.37168097e-04 9.87258485e-01 -1.08070675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:-13.62, Z:-10.81 [[ 9.36804138e-01 3.15771668e-01 1.50619590e-01 7.25058394e+01] [-3.11657864e-01 9.48834982e-01 -5.08089826e-02 -1.36245082e+01] [-1.58957174e-01 6.56285321e-04 9.87285261e-01 -1.08115223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:-13.63, Z:-10.82 [[ 9.36980461e-01 3.14920241e-01 1.51303859e-01 7.25319682e+01] [-3.10759283e-01 9.49117806e-01 -5.10299742e-02 -1.36309724e+01] [-1.59675558e-01 7.95009986e-04 9.87169228e-01 -1.08159361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:-13.64, Z:-10.82 [[ 9.37297289e-01 3.13874390e-01 1.51514551e-01 7.25591716e+01] [-3.09691091e-01 9.49464033e-01 -5.10830414e-02 -1.36376452e+01] [-1.59891275e-01 9.57289581e-04 9.87134167e-01 -1.08208426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.59, Y:-13.64, Z:-10.83 [[ 9.37596098e-01 3.12890751e-01 1.51700151e-01 7.25855208e+01] [-3.08685668e-01 9.49788464e-01 -5.11373794e-02 -1.36444966e+01] [-1.60083467e-01 1.11854491e-03 9.87102848e-01 -1.08258761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:-13.65, Z:-10.83 [[ 9.37614287e-01 3.12834712e-01 1.51703304e-01 7.26121702e+01] [-3.08630413e-01 9.49806924e-01 -5.11280257e-02 -1.36533490e+01] [-1.60083469e-01 1.11811405e-03 9.87102848e-01 -1.08306888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:-13.66, Z:-10.83 [[ 9.38538556e-01 3.10195606e-01 1.51406948e-01 7.26394471e+01] [-3.05975266e-01 9.50671481e-01 -5.10183471e-02 -1.36578641e+01] [-1.59763935e-01 1.55590470e-03 9.87154023e-01 -1.08348126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:-13.66, Z:-10.84 [[ 9.39012237e-01 3.08909797e-01 1.51098500e-01 7.26666372e+01] [-3.04692166e-01 9.51089713e-01 -5.09022803e-02 -1.36649639e+01] [-1.59432442e-01 1.75933488e-03 9.87207274e-01 -1.08398045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:-13.67, Z:-10.84 [[ 9.39412964e-01 3.07694991e-01 1.51086318e-01 7.26929878e+01] [-3.03463737e-01 9.51483032e-01 -5.08900793e-02 -1.36719685e+01] [-1.59414690e-01 1.95758175e-03 9.87209767e-01 -1.08445340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:-13.68, Z:-10.85 [[ 9.39967394e-01 3.05922654e-01 1.51236994e-01 7.27198391e+01] [-3.01661738e-01 9.52053709e-01 -5.09306541e-02 -1.36789385e+01] [-1.59566582e-01 2.25073957e-03 9.87184603e-01 -1.08494672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:-13.69, Z:-10.85 [[ 9.40232483e-01 3.05250556e-01 1.50946931e-01 7.27477231e+01] [-3.00999411e-01 9.52269175e-01 -5.08209803e-02 -1.36864750e+01] [-1.59255242e-01 2.34859915e-03 9.87234649e-01 -1.08540498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:-13.69, Z:-10.86 [[ 9.40273058e-01 3.04958480e-01 1.51284178e-01 7.27750243e+01] [-3.00685740e-01 9.52362634e-01 -5.09264185e-02 -1.36922964e+01] [-1.59607841e-01 2.39574434e-03 9.87177592e-01 -1.08588411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.80, Y:-13.70, Z:-10.86 [[ 9.40239883e-01 3.04955096e-01 1.51497036e-01 7.28011172e+01] [-3.00671844e-01 9.52363732e-01 -5.09878837e-02 -1.36991043e+01] [-1.59829298e-01 2.38994850e-03 9.87141775e-01 -1.08645537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:-13.71, Z:-10.87 [[ 9.40160626e-01 3.05294579e-01 1.51305050e-01 7.28279808e+01] [-3.01028206e-01 9.52255133e-01 -5.09134554e-02 -1.37067503e+01] [-1.59624612e-01 2.31973843e-03 9.87175061e-01 -1.08679331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:-13.71, Z:-10.87 [[ 9.39911475e-01 3.06158477e-01 1.51107268e-01 7.28555548e+01] [-3.01916345e-01 9.51978113e-01 -5.08349604e-02 -1.37118988e+01] [-1.59414366e-01 2.15860855e-03 9.87209400e-01 -1.08724872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:-13.72, Z:-10.88 [[ 9.39849283e-01 3.06238670e-01 1.51331431e-01 7.28822537e+01] [-3.01986827e-01 9.51952368e-01 -5.08983784e-02 -1.37188664e+01] [-1.59647365e-01 2.13670595e-03 9.87171795e-01 -1.08774946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:-13.73, Z:-10.88 [[ 9.39825760e-01 3.06074757e-01 1.51808383e-01 7.29084921e+01] [-3.01795715e-01 9.52005031e-01 -5.10467266e-02 -1.37261628e+01] [-1.60146458e-01 2.15990916e-03 9.87090901e-01 -1.08817359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:-13.73, Z:-10.89 [[ 9.40275268e-01 3.04372980e-01 1.52445102e-01 7.29349066e+01] [-3.00037454e-01 9.52549785e-01 -5.12487388e-02 -1.37321709e+01] [-1.60810281e-01 2.44868133e-03 9.86982299e-01 -1.08854691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.96, Y:-13.74, Z:-10.89 [[ 9.40732041e-01 3.02989060e-01 1.52383910e-01 7.29599459e+01] [-2.98641296e-01 9.52990293e-01 -5.12140482e-02 -1.37396121e+01] [-1.60737684e-01 2.67056768e-03 9.86993549e-01 -1.08921402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:-13.75, Z:-10.90 [[ 9.41380481e-01 3.01258509e-01 1.51809422e-01 7.29859788e+01] [-2.96923592e-01 9.53537970e-01 -5.10070673e-02 -1.37484070e+01] [-1.60122362e-01 2.94125856e-03 9.87092791e-01 -1.08951946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:-13.76, Z:-10.90 [[ 9.42411207e-01 2.97951025e-01 1.51941777e-01 7.30117744e+01] [-2.93567696e-01 9.54574760e-01 -5.10395580e-02 -1.37587068e+01] [-1.60247074e-01 3.49505412e-03 9.87070747e-01 -1.09001721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:-13.77, Z:-10.90 [[ 9.42895924e-01 2.96494683e-01 1.51783333e-01 7.30378007e+01] [-2.92103383e-01 9.55027223e-01 -5.09766403e-02 -1.37678937e+01] [-1.60071518e-01 3.72924119e-03 9.87098375e-01 -1.09048326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:73.06, Y:-13.78, Z:-10.91 [[ 9.43651364e-01 2.94555667e-01 1.50861070e-01 7.30645626e+01] [-2.90195244e-01 9.55625861e-01 -5.06550551e-02 -1.37772109e+01] [-1.59087473e-01 4.02154701e-03 9.87256301e-01 -1.09116071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:-13.79, Z:-10.91 [[ 9.43889834e-01 2.94190477e-01 1.50079796e-01 7.30920293e+01] [-2.89872122e-01 9.55738212e-01 -5.03847414e-02 -1.37871349e+01] [-1.58259707e-01 4.05369636e-03 9.87389200e-01 -1.09146557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:-13.80, Z:-10.92 [[ 9.43966097e-01 2.94073022e-01 1.49830124e-01 7.31182329e+01] [-2.89768901e-01 9.55774337e-01 -5.02931494e-02 -1.37965842e+01] [-1.57993646e-01 4.05891746e-03 9.87431787e-01 -1.09194884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:73.14, Y:-13.81, Z:-10.93 [[ 9.43805395e-01 2.94580314e-01 1.49845970e-01 7.31447798e+01] [-2.90283474e-01 9.55618507e-01 -5.02869088e-02 -1.38060423e+01] [-1.58009115e-01 3.96324703e-03 9.87429700e-01 -1.09266302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:-13.82, Z:-10.93 [[ 9.43354697e-01 2.96291781e-01 1.49308728e-01 7.31721509e+01] [-2.92048448e-01 9.55090476e-01 -5.00987715e-02 -1.38165038e+01] [-1.57447199e-01 3.65552915e-03 9.87520641e-01 -1.09289686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:-13.83, Z:-10.93 [[ 9.42960351e-01 2.97432831e-01 1.49530892e-01 7.31979431e+01] [-2.93192307e-01 9.54736467e-01 -5.01652160e-02 -1.38260157e+01] [-1.57683378e-01 3.46250249e-03 9.87483652e-01 -1.09339256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:-13.84, Z:-10.94 [[ 9.41926413e-01 3.00818891e-01 1.49273666e-01 7.32242420e+01] [-2.96636882e-01 9.53676934e-01 -5.00686005e-02 -1.38362668e+01] [-1.57420433e-01 2.88086253e-03 9.87527472e-01 -1.09383224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:-13.84, Z:-10.94 [[ 9.41458439e-01 3.02572632e-01 1.48680226e-01 7.32506245e+01] [-2.98447010e-01 9.53122867e-01 -4.98616287e-02 -1.38447686e+01] [-1.56797288e-01 2.56948216e-03 9.87627464e-01 -1.09426550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:-13.85, Z:-10.95 [[ 9.40784906e-01 3.04758048e-01 1.48479944e-01 7.32774604e+01] [-3.00672256e-01 9.52427281e-01 -4.97842195e-02 -1.38537795e+01] [-1.56588491e-01 2.19244242e-03 9.87661500e-01 -1.09474617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.30, Y:-13.86, Z:-10.95 [[ 9.39451156e-01 3.08679470e-01 1.48823754e-01 7.33027916e+01] [-3.04624706e-01 9.51164879e-01 -4.98914890e-02 -1.38633132e+01] [-1.56956406e-01 1.53522479e-03 9.87604339e-01 -1.09518918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:-13.87, Z:-10.96 [[ 9.38835613e-01 3.10510889e-01 1.48898216e-01 7.33281487e+01] [-3.06476482e-01 9.50569039e-01 -4.99065860e-02 -1.38718039e+01] [-1.57034572e-01 1.22027900e-03 9.87592352e-01 -1.09563138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07587156000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:73.35, Y:-13.88, Z:-10.96 [[ 9.38124051e-01 3.12258869e-01 1.49725291e-01 7.33536583e+01] [-3.08203607e-01 9.49996607e-01 -5.01695460e-02 -1.38796993e+01] [-1.57904404e-01 9.19383075e-04 9.87453976e-01 -1.09626925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:-13.89, Z:-10.96 [[ 9.37473730e-01 3.14079374e-01 1.49990510e-01 7.33797185e+01] [-3.10034995e-01 9.49396538e-01 -5.02445622e-02 -1.38889356e+01] [-1.58181251e-01 6.00650164e-04 9.87409910e-01 -1.09649840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:-13.90, Z:-10.97 [[ 9.35952760e-01 3.17909741e-01 1.51412775e-01 7.34051347e+01] [-3.13839455e-01 9.48120980e-01 -5.07090008e-02 -1.38980622e+01] [-1.59678514e-01 -5.80735988e-05 9.87169068e-01 -1.09695371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:-13.91, Z:-10.97 [[ 9.34406286e-01 3.22415968e-01 1.51435915e-01 7.34312720e+01] [-3.18405404e-01 9.46597716e-01 -5.07026860e-02 -1.39064992e+01] [-1.59696247e-01 -8.41105396e-04 9.87165843e-01 -1.09732630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:73.46, Y:-13.91, Z:-10.98 [[ 9.33407787e-01 3.25008553e-01 1.52050463e-01 7.34572460e+01] [-3.21001199e-01 9.45710182e-01 -5.08967777e-02 -1.39137452e+01] [-1.60337559e-01 -1.30093220e-03 9.87061384e-01 -1.09802969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:-13.92, Z:-10.98 [[ 9.32415811e-01 3.28092997e-01 1.51511522e-01 7.34831929e+01] [-3.24156475e-01 9.44643645e-01 -5.07046718e-02 -1.39221405e+01] [-1.59760244e-01 -1.83560324e-03 9.87154139e-01 -1.09818557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:-13.93, Z:-10.99 [[ 9.30377914e-01 3.34112103e-01 1.50884190e-01 7.35099395e+01] [-3.30288763e-01 9.42528980e-01 -5.04822231e-02 -1.39284066e+01] [-1.59079444e-01 -2.86780714e-03 9.87261620e-01 -1.09865366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.54, Y:-13.93, Z:-10.99 [[ 9.29419766e-01 3.36738952e-01 1.50949584e-01 7.35359760e+01] [-3.32951867e-01 9.41592087e-01 -5.04717301e-02 -1.39348199e+01] [-1.59128731e-01 -3.34952220e-03 9.87252160e-01 -1.09914680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:-13.94, Z:-11.00 [[ 9.27808436e-01 3.40967782e-01 1.51368679e-01 7.35636794e+01] [-3.37218738e-01 9.40066015e-01 -5.05906119e-02 -1.39399016e+01] [-1.59546320e-01 -4.10595848e-03 9.87181905e-01 -1.09960573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:-13.95, Z:-11.00 [[ 9.27302080e-01 3.42243653e-01 1.51592002e-01 7.35898806e+01] [-3.38505722e-01 9.39601109e-01 -5.06323260e-02 -1.39463168e+01] [-1.59764606e-01 -4.36329894e-03 9.87145497e-01 -1.10008145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.62, Y:-13.95, Z:-11.01 [[ 9.27070981e-01 3.42916298e-01 1.51485344e-01 7.36166727e+01] [-3.39194638e-01 9.39355241e-01 -5.05838760e-02 -1.39524682e+01] [-1.59644588e-01 -4.48817291e-03 9.87164354e-01 -1.10055338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:-13.96, Z:-11.01 [[ 9.27063598e-01 3.42639043e-01 1.52156407e-01 7.36446588e+01] [-3.38885595e-01 9.39456396e-01 -5.07763127e-02 -1.39559938e+01] [-1.60342257e-01 -4.49074335e-03 9.87051262e-01 -1.10103663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:-13.96, Z:-11.02 [[ 9.27334582e-01 3.41862148e-01 1.52252570e-01 7.36707504e+01] [-3.38098832e-01 9.39739856e-01 -5.07758019e-02 -1.39623743e+01] [-1.60436133e-01 -4.39025919e-03 9.87036460e-01 -1.10150066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:-13.97, Z:-11.02 [[ 9.28442208e-01 3.39046660e-01 1.51797325e-01 7.36981859e+01] [-3.35270601e-01 9.40761460e-01 -5.06112599e-02 -1.39669585e+01] [-1.59964652e-01 -3.90355055e-03 9.87115025e-01 -1.10200583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:-13.97, Z:-11.02 [[ 9.28942592e-01 3.37462971e-01 1.52264255e-01 7.37237811e+01] [-3.33647635e-01 9.41331638e-01 -5.07346404e-02 -1.39732082e+01] [-1.60452223e-01 -3.67304011e-03 9.87036774e-01 -1.10243809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:-13.98, Z:-11.03 [[ 9.29610410e-01 3.35570476e-01 1.52371065e-01 7.37509728e+01] [-3.31726567e-01 9.42009108e-01 -5.07575040e-02 -1.39798446e+01] [-1.60567651e-01 -3.36082630e-03 9.87019115e-01 -1.10290989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:-13.98, Z:-11.03 [[ 9.30889285e-01 3.32127693e-01 1.52106328e-01 7.37788687e+01] [-3.28256507e-01 9.43230303e-01 -5.06385279e-02 -1.39844915e+01] [-1.60289755e-01 -2.79102875e-03 9.87066059e-01 -1.10341681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:-13.99, Z:-11.04 [[ 9.31488589e-01 3.30516619e-01 1.51946610e-01 7.38053218e+01] [-3.26637660e-01 9.43796747e-01 -5.05523396e-02 -1.39904704e+01] [-1.60115105e-01 -2.54255784e-03 9.87095076e-01 -1.10393001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:-14.00, Z:-11.04 [[ 9.32020446e-01 3.29223924e-01 1.51490910e-01 7.38320618e+01] [-3.25354812e-01 9.44248994e-01 -5.03794003e-02 -1.39966620e+01] [-1.59631243e-01 -2.33366540e-03 9.87173956e-01 -1.10444013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:-14.00, Z:-11.05 [[ 9.32607477e-01 3.28002394e-01 1.50524827e-01 7.38588865e+01] [-3.24172058e-01 9.44674465e-01 -5.00263067e-02 -1.40026317e+01] [-1.58605709e-01 -2.14103526e-03 9.87339681e-01 -1.10490371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:-14.01, Z:-11.05 [[ 9.33278714e-01 3.26288593e-01 1.50088625e-01 7.38863034e+01] [-3.22463957e-01 9.45268339e-01 -4.98474055e-02 -1.40056937e+01] [-1.58138665e-01 -1.87664947e-03 9.87415131e-01 -1.10539131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:-14.01, Z:-11.06 [[ 9.33559151e-01 3.25295981e-01 1.50498629e-01 7.39119875e+01] [-3.21439594e-01 9.45610674e-01 -4.99704035e-02 -1.40112032e+01] [-1.58568281e-01 -1.72589070e-03 9.87346505e-01 -1.10584563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:-14.02, Z:-11.06 [[ 9.34133609e-01 3.23643660e-01 1.50496448e-01 7.39400900e+01] [-3.19771248e-01 9.46177891e-01 -4.99374289e-02 -1.40153736e+01] [-1.58558344e-01 -1.47620646e-03 9.87348506e-01 -1.10632472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:-14.02, Z:-11.07 [[ 9.34496137e-01 3.22666977e-01 1.50342917e-01 7.39661403e+01] [-3.18795213e-01 9.46511609e-01 -4.98536539e-02 -1.40207062e+01] [-1.58387444e-01 -1.34055538e-03 9.87376129e-01 -1.10677447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:-14.02, Z:-11.07 [[ 9.35251129e-01 3.20376194e-01 1.50547071e-01 7.39933799e+01] [-3.16467911e-01 9.47289894e-01 -4.98990792e-02 -1.40227194e+01] [-1.58598196e-01 -9.75146918e-04 9.87342727e-01 -1.10721772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:74.02, Y:-14.03, Z:-11.08 [[ 9.35758305e-01 3.18819863e-01 1.50699337e-01 7.40193598e+01] [-3.14885763e-01 9.47815050e-01 -4.99358335e-02 -1.40269854e+01] [-1.58755635e-01 -7.25204612e-04 9.87317640e-01 -1.10788707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:-14.03, Z:-11.08 [[ 9.36439486e-01 3.17151805e-01 1.49986070e-01 7.40459002e+01] [-3.13235761e-01 9.48374677e-01 -4.96873198e-02 -1.40343609e+01] [-1.58001414e-01 -4.51832459e-04 9.87438782e-01 -1.10819805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:74.07, Y:-14.04, Z:-11.09 [[ 9.37836322e-01 3.12807552e-01 1.50381080e-01 7.40720331e+01] [-3.08820242e-01 9.49816494e-01 -4.97863985e-02 -1.40381411e+01] [-1.58407991e-01 2.50771371e-04 9.87373711e-01 -1.10891559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.10, Y:-14.05, Z:-11.09 [[ 9.38634068e-01 3.10339786e-01 1.50516791e-01 7.40990246e+01] [-3.06315618e-01 9.50625471e-01 -4.98192259e-02 -1.40453943e+01] [-1.58545984e-01 6.56378579e-04 9.87351376e-01 -1.10925514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:74.13, Y:-14.05, Z:-11.10 [[ 9.40149515e-01 3.05389604e-01 1.51182271e-01 7.41262536e+01] [-3.01270963e-01 9.52226357e-01 -5.00077185e-02 -1.40508500e+01] [-1.59231581e-01 1.46790393e-03 9.87240168e-01 -1.10981174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-14.06, Z:-11.10 [[ 9.40942554e-01 3.03131182e-01 1.50793226e-01 7.41515402e+01] [-2.99010389e-01 9.52947112e-01 -4.98456474e-02 -1.40593259e+01] [-1.58807739e-01 1.81314975e-03 9.87307862e-01 -1.11004534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:74.18, Y:-14.07, Z:-11.11 [[ 9.41689146e-01 3.00658478e-01 1.51082865e-01 7.41779574e+01] [-2.96492374e-01 9.53729284e-01 -4.99271984e-02 -1.40660576e+01] [-1.59103188e-01 2.22098354e-03 9.87259461e-01 -1.11069994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:-14.07, Z:-11.11 [[ 9.42824024e-01 2.97209791e-01 1.50828377e-01 7.42034262e+01] [-2.93015817e-01 9.54808134e-01 -4.98313049e-02 -1.40740501e+01] [-1.58822513e-01 2.78705131e-03 9.87303217e-01 -1.11092855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:-14.08, Z:-11.11 [[ 9.43203163e-01 2.95938696e-01 1.50957215e-01 7.42300866e+01] [-2.91723568e-01 9.55202254e-01 -4.98599396e-02 -1.40825763e+01] [-1.58950157e-01 2.99027548e-03 9.87282080e-01 -1.11141362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:-14.09, Z:-11.12 [[ 9.43587478e-01 2.94747037e-01 1.50886894e-01 7.42563345e+01] [-2.90522619e-01 9.55570031e-01 -4.98249391e-02 -1.40913169e+01] [-1.58868747e-01 3.17813306e-03 9.87294597e-01 -1.11191601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:-14.10, Z:-11.12 [[ 9.43638318e-01 2.94582618e-01 1.50890043e-01 7.42830168e+01] [-2.90357636e-01 9.55620672e-01 -4.98153998e-02 -1.40999512e+01] [-1.58868396e-01 3.19564367e-03 9.87294597e-01 -1.11239678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:-14.11, Z:-11.13 [[ 9.44198344e-01 2.93245528e-01 1.49988493e-01 7.43093255e+01] [-2.89059294e-01 9.56031223e-01 -4.94876214e-02 -1.41096162e+01] [-1.57905706e-01 3.37056222e-03 9.87448443e-01 -1.11285707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.33, Y:-14.12, Z:-11.13 [[ 9.44358298e-01 2.92932733e-01 1.49592173e-01 7.43348186e+01] [-2.88766675e-01 9.56126998e-01 -4.93454186e-02 -1.41181235e+01] [-1.57484004e-01 3.40252105e-03 9.87515677e-01 -1.11332823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:-14.13, Z:-11.14 [[ 9.44351058e-01 2.92970856e-01 1.49563220e-01 7.43600186e+01] [-2.88809043e-01 9.56115389e-01 -4.93224081e-02 -1.41269096e+01] [-1.57449724e-01 3.38245790e-03 9.87521212e-01 -1.11377388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:-14.14, Z:-11.14 [[ 9.44313272e-01 2.93157474e-01 1.49436076e-01 7.43860963e+01] [-2.89007251e-01 9.56058351e-01 -4.92670044e-02 -1.41365223e+01] [-1.57312599e-01 3.33537670e-03 9.87543225e-01 -1.11427605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:74.41, Y:-14.15, Z:-11.15 [[ 9.44263033e-01 2.93415490e-01 1.49247026e-01 7.44119844e+01] [-2.89280836e-01 9.55979399e-01 -4.91933711e-02 -1.41452089e+01] [-1.57111179e-01 3.27717735e-03 9.87575484e-01 -1.11490911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:74.44, Y:-14.15, Z:-11.15 [[ 9.44073862e-01 2.94248455e-01 1.48803194e-01 7.44367080e+01] [-2.90150634e-01 9.55723875e-01 -4.90355391e-02 -1.41540767e+01] [-1.56643397e-01 3.11782977e-03 9.87650305e-01 -1.11539017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:74.46, Y:-14.16, Z:-11.16 [[ 9.43295926e-01 2.96585710e-01 1.49096319e-01 7.44623340e+01] [-2.92502679e-01 9.55002358e-01 -4.91190316e-02 -1.41628717e+01] [-1.56955339e-01 2.72270970e-03 9.87601948e-01 -1.11583335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:-14.17, Z:-11.16 [[ 9.42759453e-01 2.98494281e-01 1.48680123e-01 7.44882808e+01] [-2.94460959e-01 9.54408459e-01 -4.89615842e-02 -1.41727793e+01] [-1.56516320e-01 2.37850470e-03 9.87672509e-01 -1.11610650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-14.18, Z:-11.17 [[ 9.41574355e-01 3.02352973e-01 1.48392766e-01 7.45130490e+01] [-2.98387751e-01 9.53194511e-01 -4.88362058e-02 -1.41820128e+01] [-1.56212942e-01 1.70433534e-03 9.87721931e-01 -1.11656707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:-14.19, Z:-11.17 [[ 9.40942116e-01 3.04276090e-01 1.48472203e-01 7.45380620e+01] [-3.00332316e-01 9.52582896e-01 -4.88500457e-02 -1.41901602e+01] [-1.56295982e-01 1.37406481e-03 9.87709308e-01 -1.11705539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:-14.20, Z:-11.17 [[ 9.40423043e-01 3.06018531e-01 1.48179484e-01 7.45644247e+01] [-3.02114911e-01 9.52024961e-01 -4.87345218e-02 -1.41984677e+01] [-1.55984235e-01 1.06383566e-03 9.87758972e-01 -1.11749849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:-14.21, Z:-11.18 [[ 9.39266375e-01 3.09584390e-01 1.48108684e-01 7.45904315e+01] [-3.05733162e-01 9.50871868e-01 -4.86818737e-02 -1.42078937e+01] [-1.55903529e-01 4.43510768e-04 9.87772187e-01 -1.11802195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:-14.22, Z:-11.18 [[ 9.38904750e-01 3.10783201e-01 1.47890744e-01 7.46154280e+01] [-3.06963012e-01 9.50480802e-01 -4.85793551e-02 -1.42161975e+01] [-1.55664960e-01 2.14399147e-04 9.87809888e-01 -1.11845435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:-14.22, Z:-11.19 [[ 9.38485787e-01 3.11966185e-01 1.48059204e-01 7.46415367e+01] [-3.08153807e-01 9.50093206e-01 -4.86223385e-02 -1.42242472e+01] [-1.55838569e-01 6.36629718e-06 9.87782537e-01 -1.11891308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-14.23, Z:-11.19 [[ 9.38014513e-01 3.13559760e-01 1.47678875e-01 7.46679453e+01] [-3.09791604e-01 9.49568425e-01 -4.84661548e-02 -1.42312508e+01] [-1.55428232e-01 -2.87718815e-04 9.87847145e-01 -1.11934176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:-14.24, Z:-11.20 [[ 9.37869106e-01 3.13913654e-01 1.47850457e-01 7.46942837e+01] [-3.10145969e-01 9.49451460e-01 -4.84912612e-02 -1.42389445e+01] [-1.55598901e-01 -3.76767484e-04 9.87820247e-01 -1.11979654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:-14.25, Z:-11.20 [[ 9.37484716e-01 3.12983946e-01 1.52195457e-01 7.47186079e+01] [-3.10189366e-01 9.49729073e-01 -4.23939260e-02 -1.42500656e+01] [-1.57813068e-01 -7.46575467e-03 9.87440782e-01 -1.12031576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.75, Y:-14.25, Z:-11.21 [[ 9.37233994e-01 3.15878394e-01 1.47693200e-01 7.47485367e+01] [-3.11003351e-01 9.48779400e-01 -5.56288264e-02 -1.42508586e+01] [-1.57700210e-01 6.20414692e-03 9.87467545e-01 -1.12054266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:-14.26, Z:-11.21 [[ 9.37212594e-01 3.14896561e-01 1.49909005e-01 7.47734353e+01] [-3.11047204e-01 9.49125793e-01 -4.90903868e-02 -1.42625098e+01] [-1.57740897e-01 -6.20648143e-04 9.87480341e-01 -1.12112133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:-14.27, Z:-11.22 [[ 9.37159793e-01 3.15034092e-01 1.49950137e-01 7.47993522e+01] [-3.11189597e-01 9.49080115e-01 -4.90710684e-02 -1.42692860e+01] [-1.57773752e-01 -6.75490338e-04 9.87475056e-01 -1.12159679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:-14.28, Z:-11.22 [[ 9.37276937e-01 3.14670776e-01 1.49980820e-01 7.48253965e+01] [-3.10823556e-01 9.49200663e-01 -4.90593304e-02 -1.42765259e+01] [-1.57799432e-01 -6.35392989e-04 9.87470980e-01 -1.12208202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:-14.28, Z:-11.23 [[ 9.37482598e-01 3.14003694e-01 1.50093498e-01 7.48511307e+01] [-3.10145692e-01 9.49421605e-01 -4.90740909e-02 -1.42833775e+01] [-1.57911455e-01 -5.44745440e-04 9.87453126e-01 -1.12250850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.88, Y:-14.29, Z:-11.23 [[ 9.38342331e-01 3.11423179e-01 1.50097546e-01 7.48780824e+01] [-3.07534093e-01 9.50271324e-01 -4.90631548e-02 -1.42891928e+01] [-1.57912797e-01 -1.22077517e-04 9.87453054e-01 -1.12320312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:-14.30, Z:-11.24 [[ 9.39041142e-01 3.09512321e-01 1.49679178e-01 7.49045673e+01] [-3.05625899e-01 9.50895417e-01 -4.88949357e-02 -1.42979331e+01] [-1.57462830e-01 1.68522860e-04 9.87524900e-01 -1.12351540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:-14.31, Z:-11.24 [[ 9.39672870e-01 3.07571100e-01 1.49716117e-01 7.49297405e+01] [-3.03663470e-01 9.51524989e-01 -4.88742505e-02 -1.43056347e+01] [-1.57490933e-01 4.62491756e-04 9.87520325e-01 -1.12396916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:-14.31, Z:-11.24 [[ 9.40917898e-01 3.03841917e-01 1.49511200e-01 7.49560481e+01] [-2.99900165e-01 9.52721857e-01 -4.87950210e-02 -1.43137740e+01] [-1.57268561e-01 1.07367497e-03 9.87555288e-01 -1.12443788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:-14.32, Z:-11.25 [[ 9.41398084e-01 3.02277438e-01 1.49659604e-01 7.49817760e+01] [-2.98313174e-01 9.53219096e-01 -4.88119423e-02 -1.43225714e+01] [-1.57413142e-01 1.30603748e-03 9.87531973e-01 -1.12489715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.01, Y:-14.33, Z:-11.25 [[ 9.42145272e-01 3.00165167e-01 1.49208441e-01 7.50077628e+01] [-2.96203799e-01 9.53885864e-01 -4.86319723e-02 -1.43307468e+01] [-1.56925447e-01 1.62227564e-03 9.87609119e-01 -1.12534552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.03, Y:-14.34, Z:-11.26 [[ 9.42311544e-01 2.99554701e-01 1.49385191e-01 7.50334448e+01] [-2.95578106e-01 9.54077586e-01 -4.86779510e-02 -1.43379985e+01] [-1.57106771e-01 1.71480349e-03 9.87580134e-01 -1.12579893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:-14.35, Z:-11.26 [[ 9.42411854e-01 2.99230808e-01 1.49401541e-01 7.50598657e+01] [-2.95251484e-01 9.54179145e-01 -4.86695016e-02 -1.43454333e+01] [-1.57119249e-01 1.75568869e-03 9.87578078e-01 -1.12623809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.09, Y:-14.35, Z:-11.27 [[ 9.42517040e-01 2.98888893e-01 1.49422417e-01 7.50858834e+01] [-2.94906026e-01 9.54286217e-01 -4.86646980e-02 -1.43521522e+01] [-1.57137090e-01 1.80173605e-03 9.87575156e-01 -1.12678143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:75.11, Y:-14.36, Z:-11.27 [[ 9.42507460e-01 2.98933026e-01 1.49394557e-01 7.51117699e+01] [-2.94954396e-01 9.54272432e-01 -4.86418446e-02 -1.43604550e+01] [-1.57103761e-01 1.78071992e-03 9.87580497e-01 -1.12737100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:-14.37, Z:-11.28 [[ 9.42583075e-01 2.98803750e-01 1.49175957e-01 7.51370576e+01] [-2.94837061e-01 9.54312905e-01 -4.85591090e-02 -1.43700958e+01] [-1.56870185e-01 1.78839353e-03 9.87617612e-01 -1.12762061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:-14.38, Z:-11.28 [[ 9.42265614e-01 2.99215762e-01 1.50351060e-01 7.51630233e+01] [-2.95193138e-01 9.54183926e-01 -4.89290000e-02 -1.43788132e+01] [-1.58102893e-01 1.72151292e-03 9.87421142e-01 -1.12810689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:-14.39, Z:-11.28 [[ 9.42120215e-01 2.99624565e-01 1.50448069e-01 7.51880996e+01] [-2.95607151e-01 9.54055810e-01 -4.89277423e-02 -1.43867774e+01] [-1.58195808e-01 1.62228999e-03 9.87406428e-01 -1.12848628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:-14.39, Z:-11.29 [[ 9.42049384e-01 2.99918871e-01 1.50305117e-01 7.52145618e+01] [-2.95915079e-01 9.53963439e-01 -4.88673968e-02 -1.43949204e+01] [-1.58041841e-01 1.55795033e-03 9.87431187e-01 -1.12891818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:75.24, Y:-14.40, Z:-11.30 [[ 9.41462852e-01 3.01388968e-01 1.51037706e-01 7.52400043e+01] [-2.97366489e-01 9.53500385e-01 -4.90936646e-02 -1.44023401e+01] [-1.58810800e-01 1.30630910e-03 9.87308170e-01 -1.12960653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:-14.41, Z:-11.30 [[ 9.41481707e-01 3.01640829e-01 1.50416107e-01 7.52664652e+01] [-2.97657034e-01 9.53420820e-01 -4.88777052e-02 -1.44108485e+01] [-1.58153359e-01 1.24505315e-03 9.87413776e-01 -1.12989291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:-14.42, Z:-11.30 [[ 9.41312933e-01 3.02424941e-01 1.49897020e-01 7.52922481e+01] [-2.98480519e-01 9.53172570e-01 -4.86973369e-02 -1.44190509e+01] [-1.57605017e-01 1.09809271e-03 9.87501622e-01 -1.13034149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.32, Y:-14.43, Z:-11.31 [[ 9.41155735e-01 3.03495298e-01 1.48716127e-01 7.53185618e+01] [-2.99628374e-01 9.52832511e-01 -4.83015872e-02 -1.44272665e+01] [-1.56360865e-01 8.99744642e-04 9.87699585e-01 -1.13089712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35587156000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.34, Y:-14.44, Z:-11.32 [[ 9.40852882e-01 3.04421478e-01 1.48739432e-01 7.53447347e+01] [-3.00569841e-01 9.52537166e-01 -4.82775204e-02 -1.44352428e+01] [-1.56376551e-01 7.15456851e-04 9.87697252e-01 -1.13158815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:-14.44, Z:-11.32 [[ 9.40659621e-01 3.05444922e-01 1.47861007e-01 7.53703316e+01] [-3.01656538e-01 9.52209608e-01 -4.79603441e-02 -1.44423845e+01] [-1.55443915e-01 5.11119624e-04 9.87844587e-01 -1.13186705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:-14.45, Z:-11.32 [[ 9.40334602e-01 3.06330554e-01 1.48096008e-01 7.53954985e+01] [-3.02544447e-01 9.51925141e-01 -4.80144190e-02 -1.44499402e+01] [-1.55684597e-01 3.43994876e-04 9.87806756e-01 -1.13226645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:-14.46, Z:-11.33 [[ 9.40087342e-01 3.06879743e-01 1.48528156e-01 7.54221978e+01] [-3.03080110e-01 9.51748268e-01 -4.81423138e-02 -1.44580311e+01] [-1.56135316e-01 2.42049980e-04 9.87735645e-01 -1.13273524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:-14.47, Z:-11.33 [[ 9.39708652e-01 3.07741634e-01 1.49139990e-01 7.54472096e+01] [-3.03926408e-01 9.51469959e-01 -4.83079308e-02 -1.44658726e+01] [-1.56768581e-01 6.77991840e-05 9.87635362e-01 -1.13315945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:-14.47, Z:-11.34 [[ 9.39489570e-01 3.08271213e-01 1.49426263e-01 7.54726171e+01] [-3.04450060e-01 9.51298512e-01 -4.83870072e-02 -1.44733992e+01] [-1.57065303e-01 -3.37462919e-05 9.87588219e-01 -1.13363803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:-14.48, Z:-11.34 [[ 9.39566013e-01 3.08052435e-01 1.49396802e-01 7.54989283e+01] [-3.04231926e-01 9.51369380e-01 -4.83656716e-02 -1.44818958e+01] [-1.57030706e-01 -8.53539739e-06 9.87593721e-01 -1.13409722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:-14.49, Z:-11.35 [[ 9.39730495e-01 3.07028040e-01 1.50467203e-01 7.55252217e+01] [-3.03144377e-01 9.51700460e-01 -4.86797880e-02 -1.44902917e+01] [-1.58145766e-01 1.32594723e-04 9.87415768e-01 -1.13465171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.55, Y:-14.50, Z:-11.35 [[ 9.40004801e-01 3.06178485e-01 1.50484915e-01 7.55506874e+01] [-3.02288408e-01 9.51974094e-01 -4.86522571e-02 -1.44978042e+01] [-1.58154015e-01 2.43509741e-04 9.87414426e-01 -1.13515577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:-14.51, Z:-11.36 [[ 9.40494101e-01 3.04717986e-01 1.50392135e-01 7.55758928e+01] [-3.00816395e-01 9.52442504e-01 -4.86083694e-02 -1.45057243e+01] [-1.58051706e-01 4.75464882e-04 9.87430723e-01 -1.13554492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.60, Y:-14.51, Z:-11.36 [[ 9.40910457e-01 3.03446984e-01 1.50357706e-01 7.56022700e+01] [-2.99533026e-01 9.52848083e-01 -4.85849474e-02 -1.45142473e+01] [-1.58011008e-01 6.76986293e-04 9.87437119e-01 -1.13617311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:-14.52, Z:-11.36 [[ 9.41645015e-01 3.01442036e-01 1.49791069e-01 7.56286100e+01] [-2.97537471e-01 9.53484001e-01 -4.83705821e-02 -1.45232619e+01] [-1.57404314e-01 9.79461746e-04 9.87533758e-01 -1.13648042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.65, Y:-14.53, Z:-11.37 [[ 9.42482407e-01 2.99034126e-01 1.49350274e-01 7.56528534e+01] [-2.95127760e-01 9.54241468e-01 -4.81957053e-02 -1.45332142e+01] [-1.56928386e-01 1.34619246e-03 9.87609067e-01 -1.13697618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:-14.54, Z:-11.37 [[ 9.42766600e-01 2.98132244e-01 1.49359641e-01 7.56779067e+01] [-2.94216197e-01 9.54523422e-01 -4.81857514e-02 -1.45420855e+01] [-1.56933002e-01 1.48389150e-03 9.87608136e-01 -1.13744841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:-14.55, Z:-11.38 [[ 9.43046313e-01 2.97317813e-01 1.49217193e-01 7.57034763e+01] [-2.93402381e-01 9.54777233e-01 -4.81194213e-02 -1.45519037e+01] [-1.56775940e-01 1.59816311e-03 9.87632903e-01 -1.13792479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80587156 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:75.73, Y:-14.56, Z:-11.39 [[ 9.42995635e-01 2.97457561e-01 1.49258940e-01 7.57289803e+01] [-2.93546592e-01 9.54733791e-01 -4.81018391e-02 -1.45604757e+01] [-1.56810809e-01 1.54537117e-03 9.87627451e-01 -1.13859131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:-14.57, Z:-11.39 [[ 9.43084920e-01 2.97269118e-01 1.49070135e-01 7.57552492e+01] [-2.93367596e-01 9.54792452e-01 -4.80294340e-02 -1.45690505e+01] [-1.56608707e-01 1.56348778e-03 9.87659490e-01 -1.13887721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:-14.58, Z:-11.39 [[ 9.42909210e-01 2.97945981e-01 1.48830155e-01 7.57802192e+01] [-2.94067318e-01 9.54581650e-01 -4.79404441e-02 -1.45786524e+01] [-1.56354198e-01 1.43740168e-03 9.87700004e-01 -1.13933555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:-14.59, Z:-11.40 [[ 9.42715997e-01 2.98484382e-01 1.48975243e-01 7.58058789e+01] [-2.94606959e-01 9.54413583e-01 -4.79734488e-02 -1.45870197e+01] [-1.56503321e-01 1.33619428e-03 9.87676529e-01 -1.13978652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:75.83, Y:-14.60, Z:-11.40 [[ 9.42184535e-01 3.00074473e-01 1.49142925e-01 7.58313042e+01] [-2.96209973e-01 9.53915187e-01 -4.80152903e-02 -1.45955844e+01] [-1.56677864e-01 1.06164223e-03 9.87649189e-01 -1.14045272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:-14.61, Z:-11.41 [[ 9.42133048e-01 3.00313528e-01 1.48986926e-01 7.58573221e+01] [-2.96464924e-01 9.53840029e-01 -4.79348272e-02 -1.46052250e+01] [-1.56505171e-01 9.91587256e-04 9.87676642e-01 -1.14074397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:-14.61, Z:-11.41 [[ 9.41871957e-01 3.01109575e-01 1.49031007e-01 7.58832511e+01] [-2.97273605e-01 9.53589186e-01 -4.79172963e-02 -1.46144941e+01] [-1.56542713e-01 8.28973026e-04 9.87670842e-01 -1.14125163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.91, Y:-14.62, Z:-11.42 [[ 9.41534123e-01 3.02042518e-01 1.49277632e-01 7.59087184e+01] [-2.98207041e-01 9.53294223e-01 -4.79863110e-02 -1.46228861e+01] [-1.56799410e-01 6.65108429e-04 9.87630246e-01 -1.14184917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.94, Y:-14.63, Z:-11.42 [[ 9.41568662e-01 3.01930215e-01 1.49286974e-01 7.59354765e+01] [-2.98097946e-01 9.53329806e-01 -4.79572279e-02 -1.46313352e+01] [-1.56799458e-01 6.52882492e-04 9.87630246e-01 -1.14233039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:-14.64, Z:-11.43 [[ 9.41196834e-01 3.03333216e-01 1.48786693e-01 7.59612596e+01] [-2.99547005e-01 9.52884463e-01 -4.77785722e-02 -1.46400725e+01] [-1.56269356e-01 4.00432562e-04 9.87714396e-01 -1.14271488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.99, Y:-14.65, Z:-11.43 [[ 9.40871541e-01 3.04362722e-01 1.48741642e-01 7.59863457e+01] [-3.00596752e-01 9.52556189e-01 -4.77315241e-02 -1.46484644e+01] [-1.56212469e-01 1.97977998e-04 9.87723456e-01 -1.14327663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:-14.66, Z:-11.44 [[ 9.40736257e-01 3.05070886e-01 1.48145369e-01 7.60110173e+01] [-3.01346073e-01 9.52329644e-01 -4.75267749e-02 -1.46573147e+01] [-1.55582262e-01 6.71352121e-05 9.87822937e-01 -1.14366787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:-14.67, Z:-11.44 [[ 9.40679367e-01 3.05278634e-01 1.48078644e-01 7.60359025e+01] [-3.01561822e-01 9.52263071e-01 -4.74922322e-02 -1.46656553e+01] [-1.55508188e-01 2.00970673e-05 9.87834603e-01 -1.14413377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:-14.67, Z:-11.45 [[ 9.40691389e-01 3.05170040e-01 1.48226033e-01 7.60610132e+01] [-3.01446502e-01 9.52297877e-01 -4.75264176e-02 -1.46742495e+01] [-1.55658975e-01 2.54728145e-05 9.87810854e-01 -1.14456368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:-14.68, Z:-11.45 [[ 9.41037929e-01 3.04168727e-01 1.48084442e-01 7.60864564e+01] [-3.00442077e-01 9.52618157e-01 -4.74679338e-02 -1.46842611e+01] [-1.55506189e-01 1.78328880e-04 9.87834902e-01 -1.14509854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-14.69, Z:-11.46 [[ 9.41203396e-01 3.03889563e-01 1.47605218e-01 7.61121764e+01] [-3.00185555e-01 9.52707242e-01 -4.73026868e-02 -1.46933048e+01] [-1.54999353e-01 2.12495170e-04 9.87914549e-01 -1.14557870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:-14.70, Z:-11.46 [[ 9.41479395e-01 3.03206328e-01 1.47249690e-01 7.61368368e+01] [-2.99513736e-01 9.52924879e-01 -4.71772957e-02 -1.47021472e+01] [-1.54622348e-01 3.13147031e-04 9.87973599e-01 -1.14603215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:-14.71, Z:-11.47 [[ 9.41774130e-01 3.02269605e-01 1.47290783e-01 7.61631522e+01] [-2.98565443e-01 9.53222366e-01 -4.71783607e-02 -1.47116916e+01] [-1.54661453e-01 4.55421676e-04 9.87967422e-01 -1.14652167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:-14.72, Z:-11.47 [[ 9.42124056e-01 3.00893291e-01 1.47869843e-01 7.61893533e+01] [-2.97147871e-01 9.53657591e-01 -4.73322534e-02 -1.47217550e+01] [-1.55259156e-01 6.53645354e-04 9.87873558e-01 -1.14699813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:-14.73, Z:-11.47 [[ 9.42465058e-01 2.99556619e-01 1.48409725e-01 7.62139258e+01] [-2.95768964e-01 9.54078132e-01 -4.74935518e-02 -1.47317055e+01] [-1.55821481e-01 8.66022319e-04 9.87784853e-01 -1.14744407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:-14.74, Z:-11.48 [[ 9.42727444e-01 2.98789832e-01 1.48288915e-01 7.62401089e+01] [-2.95001101e-01 9.54318437e-01 -4.74412487e-02 -1.47408442e+01] [-1.55689808e-01 9.78774136e-04 9.87805510e-01 -1.14789720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:-14.75, Z:-11.48 [[ 9.42980159e-01 2.98064812e-01 1.48141106e-01 7.62647329e+01] [-2.94276560e-01 9.54545016e-01 -4.73826812e-02 -1.47498813e+01] [-1.55530464e-01 1.08647328e-03 9.87830499e-01 -1.14831925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:-14.76, Z:-11.49 [[ 9.43176159e-01 2.97452161e-01 1.48124759e-01 7.62902594e+01] [-2.93659363e-01 9.54736002e-01 -4.73639707e-02 -1.47592975e+01] [-1.55508555e-01 1.17434577e-03 9.87833847e-01 -1.14879037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:-14.77, Z:-11.49 [[ 9.43221030e-01 2.96855309e-01 1.49033601e-01 7.63157344e+01] [-2.93009979e-01 9.54921627e-01 -4.76428171e-02 -1.47709550e+01] [-1.56458432e-01 1.26937474e-03 9.87683729e-01 -1.14923880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:-14.78, Z:-11.50 [[ 9.43202795e-01 2.96720350e-01 1.49417275e-01 7.63408435e+01] [-2.92855224e-01 9.54963552e-01 -4.77538730e-02 -1.47803665e+01] [-1.56857598e-01 1.28395688e-03 9.87620395e-01 -1.14965289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:-14.79, Z:-11.50 [[ 9.43185491e-01 2.96628550e-01 1.49708491e-01 7.63666003e+01] [-2.92749290e-01 9.54992064e-01 -4.78331472e-02 -1.47892826e+01] [-1.57159098e-01 1.28847583e-03 9.87572457e-01 -1.15013312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:-14.80, Z:-11.51 [[ 9.43171151e-01 2.96478175e-01 1.50096206e-01 7.63920576e+01] [-2.92578628e-01 9.55038736e-01 -4.79453832e-02 -1.47996387e+01] [-1.57562451e-01 1.30576017e-03 9.87508162e-01 -1.15052178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:-14.81, Z:-11.51 [[ 9.43115722e-01 2.96539687e-01 1.50322818e-01 7.64165446e+01] [-2.92630972e-01 9.55019665e-01 -4.80057709e-02 -1.48090508e+01] [-1.57796863e-01 1.28588511e-03 9.87470757e-01 -1.15096620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:-14.82, Z:-11.51 [[ 9.43233856e-01 2.96457081e-01 1.49743421e-01 7.64416358e+01] [-2.92579849e-01 9.55045317e-01 -4.78066258e-02 -1.48195395e+01] [-1.57184366e-01 1.28092047e-03 9.87568445e-01 -1.15146314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:-14.83, Z:-11.52 [[ 9.43214143e-01 2.96645667e-01 1.49493912e-01 7.64680167e+01] [-2.92785661e-01 9.54986817e-01 -4.77151550e-02 -1.48287942e+01] [-1.56919209e-01 1.23593516e-03 9.87610669e-01 -1.15196042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:-14.84, Z:-11.52 [[ 9.43196413e-01 2.96829940e-01 1.49239782e-01 7.64939811e+01] [-2.92987286e-01 9.54929613e-01 -4.76223068e-02 -1.48380174e+01] [-1.56649214e-01 1.19183014e-03 9.87653585e-01 -1.15238318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-14.85, Z:-11.53 [[ 9.43126504e-01 2.97091683e-01 1.49160747e-01 7.65195447e+01] [-2.93258236e-01 9.54848281e-01 -4.75853595e-02 -1.48481419e+01] [-1.56563098e-01 1.13639609e-03 9.87667305e-01 -1.15288089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-14.86, Z:-11.53 [[ 9.43063499e-01 2.97194144e-01 1.49354869e-01 7.65454522e+01] [-2.93353819e-01 9.54816428e-01 -4.76353473e-02 -1.48574021e+01] [-1.56763429e-01 1.10933610e-03 9.87635559e-01 -1.15341820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:-14.87, Z:-11.54 [[ 9.43063836e-01 2.97241252e-01 1.49258968e-01 7.65714487e+01] [-2.93408366e-01 9.54801787e-01 -4.75928462e-02 -1.48667765e+01] [-1.56659287e-01 1.08926225e-03 9.87652105e-01 -1.15388220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.60, Y:-14.88, Z:-11.54 [[ 9.43317491e-01 2.96569460e-01 1.48992170e-01 7.65957599e+01] [-2.92743922e-01 9.55010548e-01 -4.74957836e-02 -1.48764138e+01] [-1.56374892e-01 1.18705126e-03 9.87697061e-01 -1.15440038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:-14.88, Z:-11.55 [[ 9.43460915e-01 2.96206279e-01 1.48806394e-01 7.66205357e+01] [-2.92388086e-01 9.55123198e-01 -4.74224065e-02 -1.48849037e+01] [-1.56175254e-01 1.23197017e-03 9.87728592e-01 -1.15487672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:-14.89, Z:-11.55 [[ 9.43670910e-01 2.95772263e-01 1.48337392e-01 7.66461205e+01] [-2.91975090e-01 9.55257616e-01 -4.72592100e-02 -1.48940636e+01] [-1.55678387e-01 1.28631838e-03 9.87806958e-01 -1.15534117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:-14.90, Z:-11.56 [[ 9.43780966e-01 2.95318631e-01 1.48540888e-01 7.66723440e+01] [-2.91507177e-01 9.55397864e-01 -4.73126556e-02 -1.49035982e+01] [-1.55887956e-01 1.35204882e-03 9.87773819e-01 -1.15585581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:-14.92, Z:-11.56 [[ 9.44089845e-01 2.94106147e-01 1.48983014e-01 7.66967090e+01] [-2.90258691e-01 9.55771513e-01 -4.74416110e-02 -1.49150586e+01] [-1.56346590e-01 1.54552844e-03 9.87701045e-01 -1.15630916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:-14.92, Z:-11.57 [[ 9.44348341e-01 2.93213569e-01 1.49104035e-01 7.67228328e+01] [-2.89350991e-01 9.56045489e-01 -4.74660614e-02 -1.49249890e+01] [-1.56467933e-01 1.68109610e-03 9.87681609e-01 -1.15677034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:-14.94, Z:-11.57 [[ 9.44884826e-01 2.91028198e-01 1.49984179e-01 7.67481831e+01] [-2.87094143e-01 9.56712293e-01 -4.77340706e-02 -1.49365146e+01] [-1.57383668e-01 2.04361973e-03 9.87535419e-01 -1.15724674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:-14.95, Z:-11.58 [[ 9.45210297e-01 2.89619020e-01 1.50659608e-01 7.67739173e+01] [-2.85633037e-01 9.57139295e-01 -4.79389080e-02 -1.49475876e+01] [-1.58086251e-01 2.27898804e-03 9.87422677e-01 -1.15776752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.80, Y:-14.96, Z:-11.58 [[ 9.45669598e-01 2.88149362e-01 1.50595343e-01 7.67990975e+01] [-2.84149543e-01 9.57582172e-01 -4.79105611e-02 -1.49585677e+01] [-1.58012813e-01 2.51596304e-03 9.87433856e-01 -1.15819886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:-14.98, Z:-11.58 [[ 9.46628999e-01 2.84304655e-01 1.51869689e-01 7.68245702e+01] [-2.81814198e-01 9.58710620e-01 -3.81405941e-02 -1.49771515e+01] [-1.56442632e-01 -6.69404215e-03 9.87664362e-01 -1.15828897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:-14.98, Z:-11.59 [[ 9.46458248e-01 2.86956423e-01 1.47894543e-01 7.68541532e+01] [-2.81519115e-01 9.57865359e-01 -5.69292756e-02 -1.49785167e+01] [-1.57999281e-01 1.22460416e-02 9.87363288e-01 -1.15908987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.88, Y:-14.99, Z:-11.60 [[ 9.46673725e-01 2.84844401e-01 1.50573987e-01 7.68779883e+01] [-2.80803308e-01 9.58568843e-01 -4.79090346e-02 -1.49946978e+01] [-1.57982153e-01 3.07255059e-03 9.87437187e-01 -1.15987756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:-15.01, Z:-11.60 [[ 9.47375635e-01 2.81768791e-01 1.51939973e-01 7.69051527e+01] [-2.79231630e-01 9.59462273e-01 -3.82340587e-02 -1.50137898e+01] [-1.56553836e-01 -6.20443062e-03 9.87649939e-01 -1.15975764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.94, Y:-15.02, Z:-11.61 [[ 9.46969467e-01 2.85181156e-01 1.48055859e-01 7.69363977e+01] [-2.79729933e-01 9.58392925e-01 -5.68697286e-02 -1.50161852e+01] [-1.58113863e-01 1.24382411e-02 9.87342543e-01 -1.16065015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:-15.03, Z:-11.61 [[ 9.46893439e-01 2.83847175e-01 1.51074802e-01 7.69623055e+01] [-2.79759962e-01 9.58863893e-01 -4.81081884e-02 -1.50331072e+01] [-1.58515546e-01 3.28864709e-03 9.87351005e-01 -1.16121975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:-15.05, Z:-11.62 [[ 9.46524418e-01 2.85325960e-01 1.50600869e-01 7.69887860e+01] [-2.81282735e-01 9.58425737e-01 -4.79596618e-02 -1.50479963e+01] [-1.58023885e-01 3.03356682e-03 9.87430630e-01 -1.16169668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-15.06, Z:-11.62 [[ 9.46340832e-01 2.85435147e-01 1.51544733e-01 7.70152822e+01] [-2.82365292e-01 9.58392792e-01 -4.18700257e-02 -1.50628375e+01] [-1.57190557e-01 -3.16765787e-03 9.87563211e-01 -1.16195300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.04, Y:-15.07, Z:-11.63 [[ 9.45627344e-01 2.89231954e-01 1.48774334e-01 7.70441099e+01] [-2.84375883e-01 9.57223933e-01 -5.34106726e-02 -1.50689490e+01] [-1.57858426e-01 8.19875995e-03 9.87427718e-01 -1.16273505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:-15.08, Z:-11.63 [[ 9.45194701e-01 2.89722185e-01 1.50559067e-01 7.70696989e+01] [-2.85737279e-01 9.57108036e-01 -4.79417788e-02 -1.50835838e+01] [-1.57991090e-01 2.29397707e-03 9.87437873e-01 -1.16318567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:-15.10, Z:-11.64 [[ 9.44010775e-01 2.93464630e-01 1.50738741e-01 7.70964001e+01] [-2.89517783e-01 9.55968476e-01 -4.79971381e-02 -1.50960643e+01] [-1.58186947e-01 1.66826946e-03 9.87407771e-01 -1.16362186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:-15.11, Z:-11.64 [[ 9.43342094e-01 2.95511510e-01 1.50925945e-01 7.71235211e+01] [-2.91581427e-01 9.55338263e-01 -4.80528285e-02 -1.51065686e+01] [-1.58385494e-01 1.32305338e-03 9.87376466e-01 -1.16414893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:-15.12, Z:-11.65 [[ 9.42121320e-01 2.99371825e-01 1.50943463e-01 7.71489436e+01] [-2.95490609e-01 9.54136290e-01 -4.80545495e-02 -1.51194788e+01] [-1.58406814e-01 6.70839819e-04 9.87373704e-01 -1.16459262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:-15.13, Z:-11.65 [[ 9.41651002e-01 3.00942567e-01 1.50754642e-01 7.71744596e+01] [-2.97092017e-01 9.53642182e-01 -4.79887750e-02 -1.51291824e+01] [-1.58207851e-01 4.00677387e-04 9.87405750e-01 -1.16509140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:-15.15, Z:-11.66 [[ 9.40946277e-01 3.00052676e-01 1.56807194e-01 7.71972852e+01] [-2.98489516e-01 9.53807468e-01 -3.39900478e-02 -1.51470769e+01] [-1.59762678e-01 -1.48224946e-02 9.87044163e-01 -1.16561452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:77.23, Y:-15.14, Z:-11.66 [[ 9.40343009e-01 3.07818621e-01 1.44923161e-01 7.72286073e+01] [-3.01922241e-01 9.51339324e-01 -6.16153398e-02 -1.51428346e+01] [-1.56837451e-01 1.41840285e-02 9.87522571e-01 -1.16620359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:-15.16, Z:-11.67 [[ 9.40056328e-01 3.06492164e-01 1.49521419e-01 7.72525808e+01] [-3.02778981e-01 9.51873019e-01 -4.75672614e-02 -1.51605222e+01] [-1.56904397e-01 -5.56037731e-04 9.87613640e-01 -1.16662421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-15.18, Z:-11.67 [[ 9.39195184e-01 3.05494982e-01 1.56796755e-01 7.72757496e+01] [-3.03569223e-01 9.52102945e-01 -3.66839197e-02 -1.51760198e+01] [-1.60493406e-01 -1.31453085e-02 9.86949374e-01 -1.16732079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:-15.17, Z:-11.67 [[ 9.39002462e-01 3.10974465e-01 1.46864761e-01 7.73071547e+01] [-3.05395113e-01 9.50352144e-01 -5.97044979e-02 -1.51721928e+01] [-1.58139815e-01 1.12108903e-02 9.87353085e-01 -1.16742399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:-15.19, Z:-11.68 [[ 9.38881436e-01 3.09480897e-01 1.50742242e-01 7.73318349e+01] [-3.05749529e-01 9.50905032e-01 -4.79254164e-02 -1.51888466e+01] [-1.58173557e-01 -1.09308560e-03 9.87410721e-01 -1.16796444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:-15.20, Z:-11.68 [[ 9.38828635e-01 3.09688805e-01 1.50644082e-01 7.73586425e+01] [-3.05966247e-01 9.50837292e-01 -4.78863171e-02 -1.51985509e+01] [-1.58067867e-01 -1.13495860e-03 9.87427598e-01 -1.16845987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:-15.21, Z:-11.69 [[ 9.38794004e-01 3.09868911e-01 1.50489452e-01 7.73845530e+01] [-3.06157604e-01 9.50778568e-01 -4.78292434e-02 -1.52086523e+01] [-1.57902941e-01 -1.17168303e-03 9.87453942e-01 -1.16890658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.41, Y:-15.22, Z:-11.70 [[ 9.38850360e-01 3.09723844e-01 1.50436507e-01 7.74110285e+01] [-3.06014934e-01 9.50825853e-01 -4.78022729e-02 -1.52171685e+01] [-1.57844424e-01 -1.15663673e-03 9.87463316e-01 -1.16958044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:-15.23, Z:-11.70 [[ 9.38964404e-01 3.09595554e-01 1.49988137e-01 7.74374144e+01] [-3.05908475e-01 9.50867654e-01 -4.76519639e-02 -1.52271450e+01] [-1.57371704e-01 -1.13914422e-03 9.87538784e-01 -1.16987538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:-15.24, Z:-11.70 [[ 9.39202583e-01 3.08432111e-01 1.50891158e-01 7.74654130e+01] [-3.05565770e-01 9.51225702e-01 -4.24172663e-02 -1.52400015e+01] [-1.56614395e-01 -6.26876698e-03 9.87639931e-01 -1.17019649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:-15.25, Z:-11.71 [[ 9.39174368e-01 3.08897239e-01 1.50113299e-01 7.74963519e+01] [-3.05299173e-01 9.51093984e-01 -4.70387909e-02 -1.52485539e+01] [-1.57302008e-01 -1.65183922e-03 9.87549163e-01 -1.17074299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:-15.26, Z:-11.71 [[ 9.39222007e-01 3.09145271e-01 1.49302457e-01 7.75263047e+01] [-3.04585745e-01 9.51004747e-01 -5.30800740e-02 -1.52562849e+01] [-1.58396799e-01 4.37857361e-03 9.87365830e-01 -1.17145602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:-15.27, Z:-11.72 [[ 9.39834765e-01 3.06351222e-01 1.51193729e-01 7.75535361e+01] [-3.02553133e-01 9.51918396e-01 -4.80933390e-02 -1.52711258e+01] [-1.58657545e-01 -5.44344358e-04 9.87333524e-01 -1.17196054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:-15.28, Z:-11.72 [[ 9.39823610e-01 3.06386005e-01 1.51192584e-01 7.75834259e+01] [-3.02587784e-01 9.51907200e-01 -4.80969370e-02 -1.52806838e+01] [-1.58657538e-01 -5.46392013e-04 9.87333524e-01 -1.17249829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:-15.29, Z:-11.73 [[ 9.40033632e-01 3.05650477e-01 1.51375545e-01 7.76117644e+01] [-3.01832490e-01 9.52143693e-01 -4.81615575e-02 -1.52907424e+01] [-1.58851873e-01 -4.16573885e-04 9.87302339e-01 -1.17295347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:-15.30, Z:-11.73 [[ 9.40190443e-01 3.05065319e-01 1.51581931e-01 7.76389549e+01] [-3.01228881e-01 9.52331377e-01 -4.82297617e-02 -1.52999757e+01] [-1.59069457e-01 -3.15694587e-04 9.87267344e-01 -1.17346054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:-15.31, Z:-11.74 [[ 9.40274850e-01 3.04874600e-01 1.51442017e-01 7.76690696e+01] [-3.01044137e-01 9.52392458e-01 -4.81771104e-02 -1.53119624e+01] [-1.58920212e-01 -2.91005945e-04 9.87291386e-01 -1.17393736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:77.70, Y:-15.32, Z:-11.75 [[ 9.40194982e-01 3.05012111e-01 1.51660832e-01 7.76996328e+01] [-3.01167664e-01 9.52348429e-01 -4.82753420e-02 -1.53229855e+01] [-1.59158519e-01 -2.87104193e-04 9.87252999e-01 -1.17473394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:-15.34, Z:-11.75 [[ 9.40029392e-01 3.05220137e-01 1.52267563e-01 7.77288160e+01] [-3.01341930e-01 9.52281777e-01 -4.85021452e-02 -1.53357996e+01] [-1.59805457e-01 -2.91159205e-04 9.87148485e-01 -1.17500316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:-15.35, Z:-11.76 [[ 9.39994186e-01 3.05364371e-01 1.52195703e-01 7.77579955e+01] [-3.01486632e-01 9.52235538e-01 -4.85107316e-02 -1.53465689e+01] [-1.59739606e-01 -2.85164239e-04 9.87159145e-01 -1.17554018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:-15.36, Z:-11.76 [[ 9.40036363e-01 3.05353277e-01 1.51957273e-01 7.77872424e+01] [-3.01483063e-01 9.52239104e-01 -4.84628924e-02 -1.53573001e+01] [-1.59497960e-01 -2.55662916e-04 9.87198225e-01 -1.17605845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:-15.38, Z:-11.76 [[ 9.40552086e-01 3.02796162e-01 1.53870915e-01 7.78136368e+01] [-3.01526875e-01 9.52917443e-01 -3.20919153e-02 -1.53781763e+01] [-1.56343588e-01 -1.62120983e-02 9.87569669e-01 -1.17584481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-15.37, Z:-11.77 [[ 9.40101387e-01 3.07684958e-01 1.46762900e-01 7.78483507e+01] [-3.01469926e-01 9.51363994e-01 -6.34226720e-02 -1.53718485e+01] [-1.59139141e-01 1.53791414e-02 9.87136371e-01 -1.17710271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:-15.39, Z:-11.78 [[ 9.40080311e-01 3.05611645e-01 1.51163923e-01 7.78759157e+01] [-3.01780433e-01 9.52156211e-01 -4.82402302e-02 -1.53928294e+01] [-1.58674444e-01 -2.68623424e-04 9.87330922e-01 -1.17774180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:-15.41, Z:-11.78 [[ 9.40083459e-01 3.05172587e-01 1.52028883e-01 7.79048582e+01] [-3.02272195e-01 9.52277634e-01 -4.24125934e-02 -1.54071004e+01] [-1.57716866e-01 -6.08272655e-03 9.87465640e-01 -1.17813899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:77.94, Y:-15.41, Z:-11.79 [[ 9.39528327e-01 3.08592203e-01 1.48517253e-01 7.79352446e+01] [-3.03989047e-01 9.51181501e-01 -5.33330246e-02 -1.54129799e+01] [-1.57725019e-01 4.96026915e-03 9.87470614e-01 -1.17911286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:-15.43, Z:-11.79 [[ 9.39137537e-01 3.09172383e-01 1.49776915e-01 7.79634917e+01] [-3.05444602e-01 9.51005686e-01 -4.78725502e-02 -1.54273180e+01] [-1.57239568e-01 -7.89641416e-04 9.87560173e-01 -1.17937704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.99, Y:-15.44, Z:-11.80 [[ 9.38645943e-01 3.10632878e-01 1.49836607e-01 7.79919857e+01] [-3.06919907e-01 9.50529407e-01 -4.78959024e-02 -1.54373603e+01] [-1.57302144e-01 -1.03054309e-03 9.87549985e-01 -1.17991612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:-15.45, Z:-11.80 [[ 9.37561289e-01 3.13781305e-01 1.50067060e-01 7.80210360e+01] [-3.10096910e-01 9.49494000e-01 -4.79692776e-02 -1.54473142e+01] [-1.57539636e-01 -1.56119397e-03 9.87511431e-01 -1.18041225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:-15.46, Z:-11.81 [[ 9.37002233e-01 3.15369196e-01 1.50230111e-01 7.80499587e+01] [-3.11696319e-01 9.48967300e-01 -4.80257099e-02 -1.54571258e+01] [-1.57709293e-01 -1.82597528e-03 9.87483896e-01 -1.18092987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:-15.47, Z:-11.81 [[ 9.35930127e-01 3.18469393e-01 1.50373017e-01 7.80773407e+01] [-3.14829146e-01 9.47930231e-01 -4.80716747e-02 -1.54665824e+01] [-1.57852485e-01 -2.35007972e-03 9.87459908e-01 -1.18138697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:-15.48, Z:-11.82 [[ 9.35326956e-01 3.20159547e-01 1.50536872e-01 7.81055932e+01] [-3.16533691e-01 9.47359955e-01 -4.81200374e-02 -1.54752022e+01] [-1.58018694e-01 -2.64202366e-03 9.87432586e-01 -1.18192726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:-15.48, Z:-11.82 [[ 9.34735140e-01 3.21964898e-01 1.50362308e-01 7.81319964e+01] [-3.18371249e-01 9.46747020e-01 -4.80606697e-02 -1.54830181e+01] [-1.57828915e-01 -2.94703894e-03 9.87462074e-01 -1.18236142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:-15.49, Z:-11.83 [[ 9.33417798e-01 3.25707614e-01 1.50485100e-01 7.81589608e+01] [-3.22157892e-01 9.45463721e-01 -4.80899575e-02 -1.54895005e+01] [-1.57941468e-01 -3.59194043e-03 9.87441943e-01 -1.18284312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:-15.50, Z:-11.83 [[ 9.32968216e-01 3.27069897e-01 1.50318295e-01 7.81862609e+01] [-3.23547215e-01 9.44992398e-01 -4.80267434e-02 -1.54964269e+01] [-1.57757748e-01 -3.82764056e-03 9.87470426e-01 -1.18327647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:-15.50, Z:-11.84 [[ 9.32629409e-01 3.28050344e-01 1.50284257e-01 7.82127352e+01] [-3.24543136e-01 9.44651773e-01 -4.80081322e-02 -1.55028735e+01] [-1.57715374e-01 -3.99992797e-03 9.87476512e-01 -1.18378456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:78.24, Y:-15.51, Z:-11.85 [[ 9.32502279e-01 3.28529999e-01 1.50025128e-01 7.82401693e+01] [-3.25042674e-01 9.44484710e-01 -4.79154822e-02 -1.55101063e+01] [-1.57438113e-01 -4.08327260e-03 9.87520414e-01 -1.18456252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-15.52, Z:-11.85 [[ 9.32758578e-01 3.27827686e-01 1.49968144e-01 7.82670164e+01] [-3.24335278e-01 9.44729189e-01 -4.78893082e-02 -1.55163452e+01] [-1.57378724e-01 -3.97079677e-03 9.87530339e-01 -1.18483112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:-15.52, Z:-11.85 [[ 9.33103599e-01 3.26790869e-01 1.50084650e-01 7.82945842e+01] [-3.23281501e-01 9.45088998e-01 -4.79151072e-02 -1.55231880e+01] [-1.57501571e-01 -3.80983207e-03 9.87511387e-01 -1.18534245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.32, Y:-15.54, Z:-11.85 [[ 9.33574826e-01 3.24607313e-01 1.51881982e-01 7.83207278e+01] [-3.22752168e-01 9.45743859e-01 -3.74111108e-02 -1.55362835e+01] [-1.55785372e-01 -1.40941678e-02 9.87690373e-01 -1.18538283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:-15.53, Z:-11.86 [[ 9.33846361e-01 3.26052608e-01 1.47039693e-01 7.83528787e+01] [-3.21025209e-01 9.45330009e-01 -5.73932868e-02 -1.55299142e+01] [-1.57714265e-01 6.39306390e-03 9.87464095e-01 -1.18627229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:78.38, Y:-15.54, Z:-11.87 [[ 9.34111473e-01 3.23903647e-01 1.50073925e-01 7.83773953e+01] [-3.20359296e-01 9.46084207e-01 -4.79019329e-02 -1.55418144e+01] [-1.57498181e-01 -3.33183195e-03 9.87513656e-01 -1.18702576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:-15.55, Z:-11.87 [[ 9.34214789e-01 3.23555097e-01 1.50182647e-01 7.84050689e+01] [-3.20002695e-01 9.46203629e-01 -4.79266846e-02 -1.55484754e+01] [-1.57610289e-01 -3.28503440e-03 9.87495927e-01 -1.18727865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:-15.55, Z:-11.88 [[ 9.34395893e-01 3.22964652e-01 1.50326805e-01 7.84320549e+01] [-3.19398992e-01 9.46405632e-01 -4.79652267e-02 -1.55523784e+01] [-1.57761207e-01 -3.19571893e-03 9.87472121e-01 -1.18772775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:-15.56, Z:-11.88 [[ 9.34548064e-01 3.22526951e-01 1.50320595e-01 7.84589896e+01] [-3.18958168e-01 9.46555090e-01 -4.79494429e-02 -1.55577355e+01] [-1.57751712e-01 -3.13492253e-03 9.87473832e-01 -1.18818283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:-15.56, Z:-11.89 [[ 9.34999214e-01 3.21226494e-01 1.50299731e-01 7.84870114e+01] [-3.17643962e-01 9.46997874e-01 -4.79305704e-02 -1.55606343e+01] [-1.57730094e-01 -2.92675620e-03 9.87477925e-01 -1.18870700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:-15.57, Z:-11.89 [[ 9.35428200e-01 3.19984129e-01 1.50280538e-01 7.85139698e+01] [-3.16388154e-01 9.47418980e-01 -4.79146244e-02 -1.55668735e+01] [-1.57710554e-01 -2.72629133e-03 9.87481619e-01 -1.18920714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.54, Y:-15.57, Z:-11.90 [[ 9.36026041e-01 3.18394610e-01 1.49933730e-01 7.85397759e+01] [-3.14796899e-01 9.47955063e-01 -4.77923663e-02 -1.55732604e+01] [-1.57347270e-01 -2.46377383e-03 9.87540261e-01 -1.18986218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:78.57, Y:-15.58, Z:-11.90 [[ 9.36730497e-01 3.16427296e-01 1.49698837e-01 7.85668792e+01] [-3.12818184e-01 9.48614343e-01 -4.77033689e-02 -1.55800437e+01] [-1.57101112e-01 -2.14331797e-03 9.87580198e-01 -1.19040546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:-15.58, Z:-11.91 [[ 9.38250784e-01 3.11998609e-01 1.49473523e-01 7.85952283e+01] [-3.08345765e-01 9.50081517e-01 -4.76235245e-02 -1.55845238e+01] [-1.56870505e-01 -1.40671849e-03 9.87618178e-01 -1.19068785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:-15.59, Z:-11.91 [[ 9.39117282e-01 3.09358823e-01 1.49518727e-01 7.86215319e+01] [-3.05671753e-01 9.50944883e-01 -4.76299120e-02 -1.55909869e+01] [-1.56918801e-01 -9.73577758e-04 9.87611028e-01 -1.19115597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.65, Y:-15.60, Z:-11.92 [[ 9.40053656e-01 3.06560996e-01 1.49397055e-01 7.86488356e+01] [-3.02846449e-01 9.51850876e-01 -4.75808652e-02 -1.55983174e+01] [-1.56790155e-01 -5.15801190e-04 9.87631805e-01 -1.19178511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:-15.60, Z:-11.92 [[ 9.41654542e-01 3.01554869e-01 1.49503797e-01 7.86761006e+01] [-2.97773400e-01 9.53448774e-01 -4.76071236e-02 -1.56048013e+01] [-1.56900372e-01 3.11210161e-04 9.87614386e-01 -1.19204892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:-15.61, Z:-11.92 [[ 9.42247550e-01 2.99457695e-01 1.49982143e-01 7.87033238e+01] [-2.95627012e-01 9.54109355e-01 -4.77494253e-02 -1.56124207e+01] [-1.57398298e-01 6.53006284e-04 9.87534986e-01 -1.19244402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:-15.62, Z:-11.93 [[ 9.42766469e-01 2.97694298e-01 1.50231455e-01 7.87309413e+01] [-2.93829774e-01 9.54660787e-01 -4.78209747e-02 -1.56202642e+01] [-1.57656111e-01 9.41537003e-04 9.87493627e-01 -1.19295624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:78.76, Y:-15.63, Z:-11.94 [[ 9.43310403e-01 2.95613191e-01 1.50924898e-01 7.87590708e+01] [-2.91687535e-01 9.55306853e-01 -4.80333005e-02 -1.56282027e+01] [-1.58378867e-01 1.28740051e-03 9.87377576e-01 -1.19372086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:-15.64, Z:-11.94 [[ 9.43502091e-01 2.95106733e-01 1.50717684e-01 7.87876619e+01] [-2.91185477e-01 9.55463311e-01 -4.79674895e-02 -1.56361470e+01] [-1.58160747e-01 1.37062587e-03 9.87412426e-01 -1.19392977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:78.82, Y:-15.64, Z:-11.95 [[ 9.43430281e-01 2.95518993e-01 1.50358999e-01 7.88160209e+01] [-2.91622003e-01 9.55335985e-01 -4.78514722e-02 -1.56417382e+01] [-1.57784382e-01 1.29653521e-03 9.87472738e-01 -1.19466281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:-15.65, Z:-11.95 [[ 9.43367174e-01 2.96029359e-01 1.49749773e-01 7.88446123e+01] [-2.92171115e-01 9.55178085e-01 -4.76536088e-02 -1.56501675e+01] [-1.57144569e-01 1.20229202e-03 9.87574878e-01 -1.19497785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:-15.66, Z:-11.95 [[ 9.43216096e-01 2.96545627e-01 1.49679949e-01 7.88715917e+01] [-2.92698081e-01 9.55018039e-01 -4.76275058e-02 -1.56582279e+01] [-1.57070780e-01 1.11199636e-03 9.87586722e-01 -1.19547241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:-15.67, Z:-11.96 [[ 9.42738731e-01 2.98076698e-01 1.49646141e-01 7.88994631e+01] [-2.94250985e-01 9.54541543e-01 -4.76109229e-02 -1.56661476e+01] [-1.57035166e-01 8.51136474e-04 9.87592645e-01 -1.19589566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:-15.67, Z:-11.96 [[ 9.42432111e-01 2.98771732e-01 1.50190443e-01 7.89263625e+01] [-2.94927982e-01 9.54324326e-01 -4.77762123e-02 -1.56734782e+01] [-1.57604575e-01 7.30472272e-04 9.87502033e-01 -1.19635933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:-15.68, Z:-11.97 [[ 9.42099439e-01 2.99678135e-01 1.50471470e-01 7.89541024e+01] [-2.95832992e-01 9.54040193e-01 -4.78555187e-02 -1.56809924e+01] [-1.57897083e-01 5.70232119e-04 9.87455410e-01 -1.19678075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:78.98, Y:-15.69, Z:-11.97 [[ 9.41625402e-01 3.00689199e-01 1.51418651e-01 7.89805633e+01] [-2.96809438e-01 9.53722103e-01 -4.81488140e-02 -1.56885101e+01] [-1.58889143e-01 3.95661463e-04 9.87296351e-01 -1.19747776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:-15.70, Z:-11.98 [[ 9.40982021e-01 3.02760999e-01 1.51289834e-01 7.90077805e+01] [-2.98916044e-01 9.53066512e-01 -4.80980446e-02 -1.56954920e+01] [-1.58751487e-01 3.64363551e-05 9.87318573e-01 -1.19775832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:-15.70, Z:-11.98 [[ 9.40603241e-01 3.04008804e-01 1.51142948e-01 7.90351301e+01] [-3.00189265e-01 9.52669204e-01 -4.80394880e-02 -1.57019749e+01] [-1.58593659e-01 -1.85392234e-04 9.87343920e-01 -1.19818946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:-15.71, Z:-11.99 [[ 9.40065734e-01 3.05595544e-01 1.51287074e-01 7.90618263e+01] [-3.01790979e-01 9.52161303e-01 -4.80734597e-02 -1.57083625e+01] [-1.58740733e-01 -4.64862016e-04 9.87320193e-01 -1.19862737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.09, Y:-15.71, Z:-11.99 [[ 9.38892366e-01 3.08985771e-01 1.51686910e-01 7.90886607e+01] [-3.05206745e-01 9.51066079e-01 -4.81887516e-02 -1.57133416e+01] [-1.59153913e-01 -1.05181703e-03 9.87253223e-01 -1.19903996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:79.11, Y:-15.72, Z:-12.00 [[ 9.38253053e-01 3.10618087e-01 1.52307626e-01 7.91149387e+01] [-3.06831494e-01 9.50533844e-01 -4.83719560e-02 -1.57190055e+01] [-1.59798757e-01 -1.34764100e-03 9.87148692e-01 -1.19975200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:-15.72, Z:-12.00 [[ 9.37134421e-01 3.13893761e-01 1.52478801e-01 7.91416756e+01] [-3.10143509e-01 9.49456172e-01 -4.84146711e-02 -1.57231748e+01] [-1.59969002e-01 -1.91925583e-03 9.87120172e-01 -1.20000245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:-15.73, Z:-12.00 [[ 9.36737864e-01 3.15164477e-01 1.52294213e-01 7.91683662e+01] [-3.11442250e-01 9.49034638e-01 -4.83423342e-02 -1.57292068e+01] [-1.59768269e-01 -2.14675733e-03 9.87152213e-01 -1.20044362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:-15.73, Z:-12.01 [[ 9.36475493e-01 3.15984758e-01 1.52208027e-01 7.91955533e+01] [-3.12279406e-01 9.48761487e-01 -4.83033581e-02 -1.57349147e+01] [-1.59672239e-01 -2.29652116e-03 9.87167413e-01 -1.20093986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:-15.74, Z:-12.01 [[ 9.36130481e-01 3.16832564e-01 1.52567523e-01 7.92231531e+01] [-3.13122568e-01 9.48478300e-01 -4.84063154e-02 -1.57363353e+01] [-1.60043682e-01 -2.45770710e-03 9.87106873e-01 -1.20138049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:-15.74, Z:-12.02 [[ 9.36252592e-01 3.16444435e-01 1.52623735e-01 7.92502969e+01] [-3.12729915e-01 9.48607981e-01 -4.84035036e-02 -1.57418124e+01] [-1.60097112e-01 -2.41210192e-03 9.87098322e-01 -1.20188645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:-15.75, Z:-12.02 [[ 9.36603120e-01 3.15533598e-01 1.52358603e-01 7.92767105e+01] [-3.11825038e-01 9.48911662e-01 -4.82887561e-02 -1.57482453e+01] [-1.59811580e-01 -2.28182759e-03 9.87144899e-01 -1.20239148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:-15.75, Z:-12.03 [[ 9.37017765e-01 3.14326996e-01 1.52303145e-01 7.93039342e+01] [-3.10610261e-01 9.49312441e-01 -4.82406047e-02 -1.57545725e+01] [-1.59746594e-01 -2.10461582e-03 9.87155812e-01 -1.20288487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:-15.76, Z:-12.03 [[ 9.37406099e-01 3.13137534e-01 1.52363679e-01 7.93299116e+01] [-3.09407317e-01 9.49705822e-01 -4.82282490e-02 -1.57597791e+01] [-1.59802748e-01 -1.93298243e-03 9.87147074e-01 -1.20334267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:-15.77, Z:-12.04 [[ 9.37458541e-01 3.12978759e-01 1.52367254e-01 7.93567173e+01] [-3.09248294e-01 9.49758189e-01 -4.82169531e-02 -1.57680565e+01] [-1.59802929e-01 -1.91791890e-03 9.87147074e-01 -1.20382367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:-15.77, Z:-12.04 [[ 9.38304546e-01 3.09968325e-01 1.53310849e-01 7.93839639e+01] [-3.06156095e-01 9.50745790e-01 -4.84859628e-02 -1.57711996e+01] [-1.60788757e-01 -1.44245153e-03 9.86987789e-01 -1.20423659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:-15.78, Z:-12.05 [[ 9.38851196e-01 3.07957506e-01 1.54014956e-01 7.94102928e+01] [-3.04085270e-01 9.51399458e-01 -4.86951698e-02 -1.57778106e+01] [-1.61525789e-01 -1.11616113e-03 9.86867860e-01 -1.20469944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:-15.78, Z:-12.05 [[ 9.40228872e-01 3.03788552e-01 1.53890169e-01 7.94374183e+01] [-2.99869003e-01 9.52739391e-01 -4.86439493e-02 -1.57828912e+01] [-1.61394701e-01 -4.10445974e-04 9.86889853e-01 -1.20515586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:-15.79, Z:-12.06 [[ 9.41000216e-01 3.01704105e-01 1.53275002e-01 7.94644867e+01] [-2.97790462e-01 9.53401609e-01 -4.84377136e-02 -1.57896893e+01] [-1.60746491e-01 -6.39346273e-05 9.86995725e-01 -1.20564482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:-15.80, Z:-12.06 [[ 9.41715523e-01 2.99684569e-01 1.52843165e-01 7.94897240e+01] [-2.95768608e-01 9.54038305e-01 -4.82891635e-02 -1.57963348e+01] [-1.60289751e-01 2.68444609e-04 9.87069969e-01 -1.20613289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:-15.80, Z:-12.07 [[ 9.42838073e-01 2.96374858e-01 1.52375561e-01 7.95165025e+01] [-2.92442291e-01 9.55071348e-01 -4.81272006e-02 -1.58036904e+01] [-1.59793225e-01 8.15098840e-04 9.87150171e-01 -1.20671181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:79.54, Y:-15.81, Z:-12.07 [[ 9.43402326e-01 2.94693108e-01 1.52144744e-01 7.95422887e+01] [-2.90752690e-01 9.55591331e-01 -4.80425044e-02 -1.58099090e+01] [-1.59545993e-01 1.08691697e-03 9.87189898e-01 -1.20735795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:-15.82, Z:-12.08 [[ 9.44214970e-01 2.92493916e-01 1.51345299e-01 7.95677548e+01] [-2.88569183e-01 9.56266303e-01 -4.77763970e-02 -1.58174006e+01] [-1.58700715e-01 1.43759992e-03 9.87325689e-01 -1.20765576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12587156000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:79.59, Y:-15.82, Z:-12.08 [[ 9.44571721e-01 2.91425622e-01 1.51179929e-01 7.95940746e+01] [-2.87498134e-01 9.56592149e-01 -4.77104052e-02 -1.58240989e+01] [-1.58521567e-01 1.60195219e-03 9.87354215e-01 -1.20840852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:-15.83, Z:-12.09 [[ 9.44728356e-01 2.91213304e-01 1.50609246e-01 7.96205719e+01] [-2.87314721e-01 9.56656775e-01 -4.75191054e-02 -1.58332838e+01] [-1.57919551e-01 1.62039293e-03 9.87450652e-01 -1.20871588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:-15.84, Z:-12.09 [[ 9.44905799e-01 2.90814529e-01 1.50266233e-01 7.96468164e+01] [-2.86930637e-01 9.56777986e-01 -4.73993143e-02 -1.58411976e+01] [-1.57555833e-01 1.67190090e-03 9.87508665e-01 -1.20920475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:-15.85, Z:-12.10 [[ 9.45122549e-01 2.90252549e-01 1.49989414e-01 7.96726025e+01] [-2.86377881e-01 9.56948479e-01 -4.73002882e-02 -1.58486786e+01] [-1.57261171e-01 1.75091845e-03 9.87555496e-01 -1.20967714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.70, Y:-15.86, Z:-12.10 [[ 9.45128134e-01 2.90191052e-01 1.50073194e-01 7.96993971e+01] [-2.86313292e-01 9.56967132e-01 -4.73139196e-02 -1.58566613e+01] [-1.57345190e-01 1.74976624e-03 9.87542115e-01 -1.21014757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.73, Y:-15.86, Z:-12.11 [[ 9.45057779e-01 2.90231116e-01 1.50438342e-01 7.97254387e+01] [-2.86339442e-01 9.56955037e-01 -4.74002250e-02 -1.58631903e+01] [-1.57719749e-01 1.71952049e-03 9.87482417e-01 -1.21078382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.75, Y:-15.87, Z:-12.11 [[ 9.44883766e-01 2.90576185e-01 1.50864675e-01 7.97509620e+01] [-2.86668533e-01 9.56850427e-01 -4.75227474e-02 -1.58707047e+01] [-1.58163907e-01 1.65531751e-03 9.87411484e-01 -1.21115395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:-15.88, Z:-12.11 [[ 9.44540490e-01 2.91572718e-01 1.51091405e-01 7.97778593e+01] [-2.87668137e-01 9.56547525e-01 -4.75801919e-02 -1.58792907e+01] [-1.58399195e-01 1.47723492e-03 9.87374049e-01 -1.21142877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:-15.89, Z:-12.12 [[ 9.44400015e-01 2.91903271e-01 1.51331065e-01 7.98045725e+01] [-2.87992320e-01 9.56446802e-01 -4.76438784e-02 -1.58872384e+01] [-1.58647517e-01 1.41269506e-03 9.87334274e-01 -1.21190817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:-15.90, Z:-12.12 [[ 9.44258472e-01 2.92319896e-01 1.51410091e-01 7.98294487e+01] [-2.88412037e-01 9.56319666e-01 -4.76570385e-02 -1.58952913e+01] [-1.58727548e-01 1.33206983e-03 9.87321524e-01 -1.21237468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:79.86, Y:-15.90, Z:-12.13 [[ 9.44088700e-01 2.92797613e-01 1.51545650e-01 7.98552344e+01] [-2.88891054e-01 9.56173636e-01 -4.76858202e-02 -1.59037765e+01] [-1.58866249e-01 1.23946141e-03 9.87299336e-01 -1.21304456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:-15.91, Z:-12.13 [[ 9.43946194e-01 2.93185729e-01 1.51682931e-01 7.98811481e+01] [-2.89278924e-01 9.56054797e-01 -4.77171859e-02 -1.59135357e+01] [-1.59007192e-01 1.16378084e-03 9.87276739e-01 -1.21335314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:-15.92, Z:-12.14 [[ 9.43734324e-01 2.93843858e-01 1.51727760e-01 7.99078978e+01] [-2.89944995e-01 9.55852866e-01 -4.77200082e-02 -1.59216719e+01] [-1.59051646e-01 1.04230495e-03 9.87269714e-01 -1.21380521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:-15.93, Z:-12.14 [[ 9.43597849e-01 2.94230546e-01 1.51827155e-01 7.99335521e+01] [-2.90334683e-01 9.55733994e-01 -4.77315962e-02 -1.59296817e+01] [-1.59150467e-01 9.58742561e-04 9.87253873e-01 -1.21425572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:-15.95, Z:-12.15 [[ 9.43061915e-01 2.91847548e-01 1.59559499e-01 7.99560638e+01] [-2.90089043e-01 9.56369140e-01 -3.47335010e-02 -1.59458770e+01] [-1.62734668e-01 -1.35306205e-02 9.86577088e-01 -1.21510806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:-15.94, Z:-12.15 [[ 9.43287369e-01 2.97414872e-01 1.47490110e-01 7.99878194e+01] [-2.91316098e-01 9.54624271e-01 -6.18662524e-02 -1.59397479e+01] [-1.59197582e-01 1.53914112e-02 9.87126757e-01 -1.21495713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:-15.96, Z:-12.16 [[ 9.43099998e-01 2.95662893e-01 1.52137595e-01 8.00110487e+01] [-2.91779270e-01 9.55292112e-01 -4.77685988e-02 -1.59568453e+01] [-1.59459246e-01 6.59969106e-04 9.87204292e-01 -1.21564043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63587156000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:80.04, Y:-15.96, Z:-12.16 [[ 9.43067301e-01 2.95875032e-01 1.51927720e-01 8.00365611e+01] [-2.92006885e-01 9.55226461e-01 -4.76905369e-02 -1.59640934e+01] [-1.59235818e-01 6.11445569e-04 9.87240386e-01 -1.21628226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:-15.98, Z:-12.17 [[ 9.42681271e-01 2.97006401e-01 1.52115806e-01 8.00611467e+01] [-2.93145551e-01 9.54875401e-01 -4.77352473e-02 -1.59751949e+01] [-1.59429316e-01 4.07051703e-04 9.87209262e-01 -1.21659590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:-15.98, Z:-12.17 [[ 9.42679444e-01 2.97077386e-01 1.51988461e-01 8.00871786e+01] [-2.93226208e-01 9.54853330e-01 -4.76813375e-02 -1.59839384e+01] [-1.59291735e-01 3.81216643e-04 9.87231481e-01 -1.21703038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:-15.99, Z:-12.17 [[ 9.42665072e-01 2.97114167e-01 1.52005705e-01 8.01121180e+01] [-2.93264416e-01 9.54841892e-01 -4.76753963e-02 -1.59920117e+01] [-1.59306450e-01 3.64066662e-04 9.87229113e-01 -1.21744808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.14, Y:-16.00, Z:-12.18 [[ 9.42606124e-01 2.97342336e-01 1.51925082e-01 8.01382247e+01] [-2.93501797e-01 9.54770882e-01 -4.76367292e-02 -1.59998520e+01] [-1.59218061e-01 3.12388189e-04 9.87243390e-01 -1.21808215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:-16.01, Z:-12.18 [[ 9.42225739e-01 2.98287879e-01 1.52430305e-01 8.01635679e+01] [-2.94435856e-01 9.54475941e-01 -4.77828981e-02 -1.60115532e+01] [-1.59744118e-01 1.41329225e-04 9.87158446e-01 -1.21846502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:-16.02, Z:-12.19 [[ 9.42108003e-01 2.98615810e-01 1.52515929e-01 8.01892267e+01] [-2.94765678e-01 9.54373403e-01 -4.77975173e-02 -1.60205237e+01] [-1.59830241e-01 7.39622705e-05 9.87144513e-01 -1.21890232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:-16.03, Z:-12.19 [[ 9.41826083e-01 2.99233948e-01 1.53044678e-01 8.02145972e+01] [-2.95366973e-01 9.54179775e-01 -4.79511068e-02 -1.60288930e+01] [-1.60380736e-01 -4.27402575e-05 9.87055225e-01 -1.21938274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:-16.04, Z:-12.20 [[ 9.41656064e-01 2.99855088e-01 1.52875058e-01 8.02400058e+01] [-2.96007797e-01 9.53984748e-01 -4.78799043e-02 -1.60371400e+01] [-1.60197506e-01 -1.65806794e-04 9.87084967e-01 -1.21983237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.27, Y:-16.05, Z:-12.20 [[ 9.41175746e-01 3.01873831e-01 1.51856526e-01 8.02658972e+01] [-2.98107144e-01 9.53347741e-01 -4.75417220e-02 -1.60463630e+01] [-1.59123678e-01 -5.24399649e-04 9.87258517e-01 -1.22028879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:80.29, Y:-16.05, Z:-12.21 [[ 9.40992905e-01 3.02640852e-01 1.51462431e-01 8.02918934e+01] [-2.98905583e-01 9.53104440e-01 -4.74065169e-02 -1.60533169e+01] [-1.58706664e-01 -6.63770275e-04 9.87325556e-01 -1.22092929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:-16.06, Z:-12.21 [[ 9.40454565e-01 3.03995154e-01 1.52092594e-01 8.03177116e+01] [-3.00248061e-01 9.52673146e-01 -4.75917952e-02 -1.60628938e+01] [-1.59362205e-01 -9.07585389e-04 9.87219765e-01 -1.22124725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:-16.07, Z:-12.22 [[ 9.40361292e-01 3.04041963e-01 1.52574982e-01 8.03434327e+01] [-3.00273462e-01 9.52658186e-01 -4.77307907e-02 -1.60717675e+01] [-1.59863969e-01 -9.30030138e-04 9.87138616e-01 -1.22169483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:-16.08, Z:-12.22 [[ 9.40401174e-01 3.03815614e-01 1.52779924e-01 8.03695355e+01] [-3.00035905e-01 9.52730421e-01 -4.77828532e-02 -1.60806381e+01] [-1.60075259e-01 -9.04411688e-04 9.87104399e-01 -1.22213508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:-16.09, Z:-12.23 [[ 9.40486186e-01 3.03527618e-01 1.52829050e-01 8.03960230e+01] [-2.99743655e-01 9.52822246e-01 -4.77860721e-02 -1.60897603e+01] [-1.60123311e-01 -8.67397249e-04 9.87096638e-01 -1.22259938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:80.42, Y:-16.10, Z:-12.23 [[ 9.40714739e-01 3.02797268e-01 1.52871165e-01 8.04208612e+01] [-2.99003598e-01 9.53054691e-01 -4.77870725e-02 -1.60968419e+01] [-1.60164376e-01 -7.55025002e-04 9.87090068e-01 -1.22323688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:-16.11, Z:-12.24 [[ 9.40918857e-01 3.02512057e-01 1.52178055e-01 8.04464826e+01] [-2.98751527e-01 9.53145289e-01 -4.75561130e-02 -1.61074588e+01] [-1.59434093e-01 -7.16982657e-04 9.87208314e-01 -1.22356116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:-16.12, Z:-12.24 [[ 9.40969157e-01 3.02546976e-01 1.51797142e-01 8.04720080e+01] [-2.98807724e-01 9.53134194e-01 -4.74252379e-02 -1.61162315e+01] [-1.59031409e-01 -7.32472258e-04 9.87273252e-01 -1.22404554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:-16.12, Z:-12.25 [[ 9.40836690e-01 3.02949534e-01 1.51815360e-01 8.04976235e+01] [-2.99216827e-01 9.53006253e-01 -4.74170149e-02 -1.61246985e+01] [-1.59045950e-01 -8.14042969e-04 9.87270846e-01 -1.22453626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:-16.13, Z:-12.25 [[ 9.40490191e-01 3.04139818e-01 1.51582231e-01 8.05240320e+01] [-3.00436226e-01 9.52626850e-01 -4.73303037e-02 -1.61334492e+01] [-1.58796333e-01 -1.02710696e-03 9.87310827e-01 -1.22498890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:-16.14, Z:-12.25 [[ 9.40343201e-01 3.04682054e-01 1.51405120e-01 8.05499036e+01] [-3.00996075e-01 9.52453448e-01 -4.72630020e-02 -1.61416460e+01] [-1.58606517e-01 -1.12890423e-03 9.87341227e-01 -1.22542743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:-16.15, Z:-12.26 [[ 9.40192924e-01 3.05189635e-01 1.51316068e-01 8.05745520e+01] [-3.01516446e-01 9.52290810e-01 -4.72233737e-02 -1.61506066e+01] [-1.58508985e-01 -1.22520111e-03 9.87356775e-01 -1.22590214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.60, Y:-16.16, Z:-12.27 [[ 9.39895624e-01 3.06134860e-01 1.51253639e-01 8.05996680e+01] [-3.02479135e-01 9.51987129e-01 -4.71898193e-02 -1.61610170e+01] [-1.58437966e-01 -1.39756521e-03 9.87367944e-01 -1.22652675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:-16.17, Z:-12.27 [[ 9.39761172e-01 3.06456142e-01 1.51438349e-01 8.06253566e+01] [-3.02797470e-01 9.51883652e-01 -4.72356346e-02 -1.61710475e+01] [-1.58627339e-01 -1.46493347e-03 9.87337441e-01 -1.22683893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:-16.18, Z:-12.27 [[ 9.39605992e-01 3.06919872e-01 1.51462114e-01 8.06509257e+01] [-3.03267970e-01 9.51734088e-01 -4.72309700e-02 -1.61792109e+01] [-1.58647780e-01 -1.55510554e-03 9.87334018e-01 -1.22724836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:-16.19, Z:-12.28 [[ 9.39260040e-01 3.07868913e-01 1.51681608e-01 8.06772504e+01] [-3.04220952e-01 9.51427209e-01 -4.72850816e-02 -1.61874035e+01] [-1.58871616e-01 -1.73173567e-03 9.87297732e-01 -1.22764217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:-16.20, Z:-12.28 [[ 9.38876590e-01 3.08804192e-01 1.52153603e-01 8.07036265e+01] [-3.05147488e-01 9.51123721e-01 -4.74202329e-02 -1.61954194e+01] [-1.59360468e-01 -1.90754308e-03 9.87218619e-01 -1.22814033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:-16.20, Z:-12.29 [[ 9.38045534e-01 3.11337642e-01 1.52116564e-01 8.07300844e+01] [-3.07717739e-01 9.50296457e-01 -4.73965965e-02 -1.62047000e+01] [-1.59312176e-01 -2.34879940e-03 9.87225462e-01 -1.22855929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:-16.21, Z:-12.29 [[ 9.37615417e-01 3.12509259e-01 1.52365656e-01 8.07555748e+01] [-3.08894720e-01 9.49911254e-01 -4.74622084e-02 -1.62132960e+01] [-1.59566231e-01 -2.56364819e-03 9.87183897e-01 -1.22899837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:-16.22, Z:-12.29 [[ 9.37162522e-01 3.13736436e-01 1.52629800e-01 8.07816412e+01] [-3.10127744e-01 9.49506007e-01 -4.75302472e-02 -1.62218728e+01] [-1.59834882e-01 -2.79116909e-03 9.87139818e-01 -1.22946587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:-16.23, Z:-12.30 [[ 9.36236689e-01 3.16445139e-01 1.52719797e-01 8.08080626e+01] [-3.12869907e-01 9.48605186e-01 -4.75459962e-02 -1.62287239e+01] [-1.59916491e-01 -3.26712268e-03 9.87125140e-01 -1.22978644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:-16.24, Z:-12.30 [[ 9.35697173e-01 3.17933323e-01 1.52935291e-01 8.08346526e+01] [-3.14370028e-01 9.48106464e-01 -4.75985137e-02 -1.62359776e+01] [-1.60132092e-01 -3.54047703e-03 9.87089245e-01 -1.23027649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:-16.24, Z:-12.31 [[ 9.35179101e-01 3.19513204e-01 1.52811522e-01 8.08614831e+01] [-3.15978591e-01 9.47574126e-01 -4.75479213e-02 -1.62435280e+01] [-1.59992433e-01 -3.81934709e-03 9.87110852e-01 -1.23075710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:-16.25, Z:-12.31 [[ 9.34676262e-01 3.20913506e-01 1.52953609e-01 8.08873134e+01] [-3.17392911e-01 9.47099740e-01 -4.75796449e-02 -1.62501693e+01] [-1.60131274e-01 -4.07482667e-03 9.87087317e-01 -1.23120829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:-16.25, Z:-12.32 [[ 9.33688807e-01 3.23680136e-01 1.53154764e-01 8.09146943e+01] [-3.20189533e-01 9.46155532e-01 -4.76274319e-02 -1.62539878e+01] [-1.60324281e-01 -4.56935230e-03 9.87053821e-01 -1.23163743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68587156000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:80.94, Y:-16.26, Z:-12.32 [[ 9.33295890e-01 3.24852469e-01 1.53067486e-01 8.09419190e+01] [-3.21383468e-01 9.45752626e-01 -4.75882027e-02 -1.62595556e+01] [-1.60223122e-01 -4.77948552e-03 9.87069252e-01 -1.23230128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.97, Y:-16.27, Z:-12.33 [[ 9.33028250e-01 3.25565215e-01 1.53184777e-01 8.09682888e+01] [-3.22102377e-01 9.45506801e-01 -4.76124834e-02 -1.62666620e+01] [-1.60338217e-01 -4.91738871e-03 9.87049885e-01 -1.23260453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:-16.27, Z:-12.33 [[ 9.33084642e-01 3.25401772e-01 1.53188568e-01 8.09951362e+01] [-3.21938750e-01 9.45563142e-01 -4.76002825e-02 -1.62748032e+01] [-1.60338680e-01 -4.90224353e-03 9.87049885e-01 -1.23308528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:-16.28, Z:-12.34 [[ 9.32915208e-01 3.25850073e-01 1.53267557e-01 8.10223719e+01] [-3.22394233e-01 9.45408181e-01 -4.75954732e-02 -1.62814912e+01] [-1.60409391e-01 -5.01003572e-03 9.87037855e-01 -1.23357516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:-16.29, Z:-12.34 [[ 9.32822218e-01 3.26078882e-01 1.53346899e-01 8.10496257e+01] [-3.22627952e-01 9.45328892e-01 -4.75866592e-02 -1.62875718e+01] [-1.60480259e-01 -5.08410303e-03 9.87025956e-01 -1.23406727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:-16.29, Z:-12.35 [[ 9.33208202e-01 3.25530455e-01 1.52159042e-01 8.10775764e+01] [-3.22127762e-01 9.45518537e-01 -4.72059397e-02 -1.62902707e+01] [-1.59236166e-01 -4.96168151e-03 9.87228051e-01 -1.23455520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:-16.30, Z:-12.35 [[ 9.33588788e-01 3.24650014e-01 1.51704791e-01 8.11034691e+01] [-3.21258110e-01 9.45821996e-01 -4.70529332e-02 -1.62955256e+01] [-1.58761464e-01 -4.80830351e-03 9.87305261e-01 -1.23508081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:-16.30, Z:-12.36 [[ 9.34007017e-01 3.23558625e-01 1.51461903e-01 8.11305093e+01] [-3.20165471e-01 9.46196809e-01 -4.69645591e-02 -1.63016407e+01] [-1.58508557e-01 -4.62764374e-03 9.87346759e-01 -1.23555364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:-16.31, Z:-12.36 [[ 9.34638876e-01 3.21777408e-01 1.51358747e-01 8.11577737e+01] [-3.18370769e-01 9.46805341e-01 -4.69009572e-02 -1.63074900e+01] [-1.58398939e-01 -4.35274283e-03 9.87365601e-01 -1.23602685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:-16.31, Z:-12.37 [[ 9.36149510e-01 3.17426743e-01 1.51209650e-01 8.11838417e+01] [-3.13975642e-01 9.48275797e-01 -4.68221088e-02 -1.63118394e+01] [-1.58251041e-01 -3.64365276e-03 9.87392187e-01 -1.23651078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:81.21, Y:-16.32, Z:-12.37 [[ 9.37017054e-01 3.14840551e-01 1.51243074e-01 8.12110579e+01] [-3.11356635e-01 9.49139113e-01 -4.68186990e-02 -1.63179730e+01] [-1.58291142e-01 -3.22061538e-03 9.87387230e-01 -1.23709593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:-16.33, Z:-12.37 [[ 9.37921497e-01 3.11968321e-01 1.51588361e-01 8.12370008e+01] [-3.08433073e-01 9.50088513e-01 -4.69132888e-02 -1.63252670e+01] [-1.58657821e-01 -2.75388206e-03 9.87329789e-01 -1.23739971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.26, Y:-16.33, Z:-12.38 [[ 9.39709120e-01 3.06740368e-01 1.51185699e-01 8.12646789e+01] [-3.03158960e-01 9.51791372e-01 -4.67742407e-02 -1.63293949e+01] [-1.58244792e-01 -1.87911875e-03 9.87398124e-01 -1.23781658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:-16.34, Z:-12.38 [[ 9.40548454e-01 3.04309056e-01 1.50879432e-01 8.12911062e+01] [-3.00713013e-01 9.52572209e-01 -4.66676611e-02 -1.63354120e+01] [-1.57924946e-01 -1.47821218e-03 9.87450012e-01 -1.23833403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:-16.34, Z:-12.39 [[ 9.41406344e-01 3.01725086e-01 1.50718503e-01 8.13181219e+01] [-2.98105708e-01 9.53394388e-01 -4.66060837e-02 -1.63419055e+01] [-1.57756400e-01 -1.05478328e-03 9.87477496e-01 -1.23880551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:-16.35, Z:-12.39 [[ 9.42149753e-01 2.99327365e-01 1.50854141e-01 8.13440735e+01] [-2.95672795e-01 9.54150243e-01 -4.66359555e-02 -1.63486987e+01] [-1.57896933e-01 -6.65411518e-04 9.87455374e-01 -1.23929482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:-16.36, Z:-12.40 [[ 9.43731049e-01 2.94111909e-01 1.51227948e-01 8.13699254e+01] [-2.90374652e-01 9.55770970e-01 -4.67377255e-02 -1.63552810e+01] [-1.58285404e-01 1.95080138e-04 9.87393383e-01 -1.23968704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:-16.36, Z:-12.40 [[ 9.44426415e-01 2.91844901e-01 1.51278885e-01 8.13952804e+01] [-2.88079649e-01 9.56465497e-01 -4.67318874e-02 -1.63625561e+01] [-1.58331497e-01 5.54460745e-04 9.87385856e-01 -1.24011714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:-16.37, Z:-12.41 [[ 9.45163339e-01 2.89733500e-01 1.50734077e-01 8.14215699e+01] [-2.85971016e-01 9.57106945e-01 -4.65496923e-02 -1.63701411e+01] [-1.57755637e-01 8.91485470e-04 9.87477779e-01 -1.24059331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:81.45, Y:-16.38, Z:-12.41 [[ 9.45681140e-01 2.88174380e-01 1.50474940e-01 8.14469989e+01] [-2.84407139e-01 9.57577272e-01 -4.64580294e-02 -1.63767251e+01] [-1.57479397e-01 1.13833503e-03 9.87521617e-01 -1.24119798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:81.47, Y:-16.38, Z:-12.42 [[ 9.46451287e-01 2.85482836e-01 1.50763096e-01 8.14740799e+01] [-2.81669317e-01 9.58382526e-01 -4.65330937e-02 -1.63838450e+01] [-1.57773116e-01 1.57596817e-03 9.87474131e-01 -1.24158269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:-16.39, Z:-12.42 [[ 9.46742661e-01 2.84246845e-01 1.51268192e-01 8.15002584e+01] [-2.80393761e-01 9.58749485e-01 -4.66772346e-02 -1.63925964e+01] [-1.58296158e-01 1.77667198e-03 9.87390080e-01 -1.24194334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:-16.40, Z:-12.42 [[ 9.47027593e-01 2.83235850e-01 1.51380947e-01 8.15251056e+01] [-2.79366015e-01 9.59048334e-01 -4.67003627e-02 -1.64007678e+01] [-1.58408862e-01 1.93584013e-03 9.87371706e-01 -1.24236514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:-16.41, Z:-12.43 [[ 9.47511667e-01 2.81409126e-01 1.51758177e-01 8.15508166e+01] [-2.77498785e-01 9.59585283e-01 -4.68028774e-02 -1.64105974e+01] [-1.58795670e-01 2.23356272e-03 9.87308942e-01 -1.24282553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:81.58, Y:-16.42, Z:-12.43 [[ 9.47677495e-01 2.80894145e-01 1.51676777e-01 8.15756829e+01] [-2.76983363e-01 9.59735983e-01 -4.67660128e-02 -1.64184528e+01] [-1.58705960e-01 2.30715397e-03 9.87323197e-01 -1.24333561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:-16.43, Z:-12.44 [[ 9.47775724e-01 2.80603970e-01 1.51600097e-01 8.16004811e+01] [-2.76695700e-01 9.59820781e-01 -4.67285647e-02 -1.64276445e+01] [-1.58621144e-01 2.34110440e-03 9.87336747e-01 -1.24365704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:-16.44, Z:-12.44 [[ 9.47786834e-01 2.80638656e-01 1.51466371e-01 8.16269046e+01] [-2.76739962e-01 9.59810691e-01 -4.66736635e-02 -1.64364755e+01] [-1.58477476e-01 2.31988621e-03 9.87359867e-01 -1.24418088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:-16.45, Z:-12.45 [[ 9.47763053e-01 2.80980661e-01 1.50980344e-01 8.16533496e+01] [-2.77113253e-01 9.59710806e-01 -4.65125023e-02 -1.64454992e+01] [-1.57966582e-01 2.24417665e-03 9.87441909e-01 -1.24466375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:-16.46, Z:-12.45 [[ 9.47364545e-01 2.82602720e-01 1.50453055e-01 8.16779388e+01] [-2.78784572e-01 9.59235048e-01 -4.63388024e-02 -1.64550887e+01] [-1.57415315e-01 1.95574797e-03 9.87530553e-01 -1.24513158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.70, Y:-16.46, Z:-12.46 [[ 9.46909766e-01 2.84021304e-01 1.50644598e-01 8.17041225e+01] [-2.80213257e-01 9.58816445e-01 -4.63848550e-02 -1.64636587e+01] [-1.57614805e-01 1.70965885e-03 9.87499190e-01 -1.24566607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:81.73, Y:-16.47, Z:-12.46 [[ 9.46292591e-01 2.85823387e-01 1.51113609e-01 8.17298394e+01] [-2.82017371e-01 9.58281297e-01 -4.65097544e-02 -1.64723927e+01] [-1.58102921e-01 1.39517317e-03 9.87421653e-01 -1.24616332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:-16.48, Z:-12.46 [[ 9.45834567e-01 2.87319937e-01 1.51143062e-01 8.17563689e+01] [-2.83533242e-01 9.57833998e-01 -4.65073469e-02 -1.64815766e+01] [-1.58132452e-01 1.13417379e-03 9.87417258e-01 -1.24642620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:-16.49, Z:-12.47 [[ 9.44592408e-01 2.91424152e-01 1.51053457e-01 8.17824750e+01] [-2.87695889e-01 9.56593839e-01 -4.64682900e-02 -1.64907738e+01] [-1.58038788e-01 4.36135333e-04 9.87432808e-01 -1.24688542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:-16.50, Z:-12.47 [[ 9.44007563e-01 2.93269596e-01 1.51137904e-01 8.18081209e+01] [-2.89562464e-01 9.56029775e-01 -4.64827834e-02 -1.64986312e+01] [-1.58124323e-01 1.16235289e-04 9.87419204e-01 -1.24736366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:-16.51, Z:-12.48 [[ 9.43447116e-01 2.94963578e-01 1.51340764e-01 8.18341372e+01] [-2.91270257e-01 9.55508480e-01 -4.65315213e-02 -1.65065005e+01] [-1.58332487e-01 -1.81033581e-04 9.87385837e-01 -1.24782253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:-16.51, Z:-12.48 [[ 9.43001303e-01 2.96368213e-01 1.51375113e-01 8.18592099e+01] [-2.92693052e-01 9.55073662e-01 -4.65304056e-02 -1.65138489e+01] [-1.58364516e-01 -4.28210573e-04 9.87380624e-01 -1.24830471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:-16.52, Z:-12.49 [[ 9.42664028e-01 2.97995841e-01 1.50276443e-01 8.18848795e+01] [-2.94396868e-01 9.54566905e-01 -4.61790955e-02 -1.65222251e+01] [-1.57210097e-01 -7.09541825e-04 9.87564925e-01 -1.24882714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:-16.53, Z:-12.49 [[ 9.42541878e-01 2.98302566e-01 1.50433999e-01 8.19107742e+01] [-2.94701733e-01 9.54471048e-01 -4.62158654e-02 -1.65300355e+01] [-1.57371208e-01 -7.72771785e-04 9.87539217e-01 -1.24933037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.94, Y:-16.54, Z:-12.50 [[ 9.42445488e-01 2.98552195e-01 1.50542649e-01 8.19369306e+01] [-2.94951139e-01 9.54392951e-01 -4.62376612e-02 -1.65374253e+01] [-1.57481198e-01 -8.26250691e-04 9.87521640e-01 -1.24974556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:-16.54, Z:-12.50 [[ 9.42373628e-01 2.98556585e-01 1.50983146e-01 8.19633215e+01] [-2.94936210e-01 9.54391565e-01 -4.63613306e-02 -1.65445759e+01] [-1.57938521e-01 -8.40701457e-04 9.87448589e-01 -1.25020968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:-16.55, Z:-12.51 [[ 9.42218882e-01 2.98670579e-01 1.51721663e-01 8.19907376e+01] [-2.95017881e-01 9.54355866e-01 -4.65760859e-02 -1.65508032e+01] [-1.58707365e-01 -8.75735877e-04 9.87325278e-01 -1.25063419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:82.02, Y:-16.56, Z:-12.51 [[ 9.42266091e-01 2.98624795e-01 1.51518468e-01 8.20160100e+01] [-2.94983269e-01 9.54370190e-01 -4.65017309e-02 -1.65569065e+01] [-1.58491279e-01 -8.78408845e-04 9.87359986e-01 -1.25125763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:-16.57, Z:-12.52 [[ 9.42477957e-01 2.98174848e-01 1.51086268e-01 8.20414838e+01] [-2.94550228e-01 9.54510923e-01 -4.63579685e-02 -1.65653109e+01] [-1.58036273e-01 -8.11131002e-04 9.87432974e-01 -1.25165057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.07, Y:-16.57, Z:-12.52 [[ 9.42779049e-01 2.97453638e-01 1.50628674e-01 8.20673070e+01] [-2.93845348e-01 9.54736001e-01 -4.61961123e-02 -1.65719550e+01] [-1.57551819e-01 -7.08808196e-04 9.87510467e-01 -1.25226792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:82.09, Y:-16.58, Z:-12.53 [[ 9.43182494e-01 2.96480395e-01 1.50020525e-01 8.20940499e+01] [-2.92892594e-01 9.55038772e-01 -4.59877415e-02 -1.65790513e+01] [-1.56909881e-01 -5.65067862e-04 9.87612763e-01 -1.25276896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:-16.59, Z:-12.53 [[ 9.43968911e-01 2.93988976e-01 1.49977258e-01 8.21193803e+01] [-2.90373824e-01 9.55808797e-01 -4.59628836e-02 -1.65861665e+01] [-1.56862164e-01 -1.61936730e-04 9.87620492e-01 -1.25318051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:-16.59, Z:-12.54 [[ 9.44409550e-01 2.92499720e-01 1.50115005e-01 8.21448525e+01] [-2.88861349e-01 9.56265606e-01 -4.59914439e-02 -1.65934827e+01] [-1.57002300e-01 7.23361681e-05 9.87598234e-01 -1.25363982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:-16.60, Z:-12.54 [[ 9.44901502e-01 2.90947901e-01 1.50034899e-01 8.21713258e+01] [-2.87296146e-01 9.56738845e-01 -4.59533050e-02 -1.66009567e+01] [-1.56914233e-01 3.16898772e-04 9.87612182e-01 -1.25409493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:-16.61, Z:-12.55 [[ 9.45359099e-01 2.89520033e-01 1.49914392e-01 8.21977497e+01] [-2.85858138e-01 9.57171801e-01 -4.59049914e-02 -1.66090245e+01] [-1.56784243e-01 5.42452204e-04 9.87632729e-01 -1.25457705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.22, Y:-16.62, Z:-12.55 [[ 9.46360644e-01 2.86612986e-01 1.49179515e-01 8.22244019e+01] [-2.82953068e-01 9.58045918e-01 -4.56681564e-02 -1.66174801e+01] [-1.56009912e-01 1.00774436e-03 9.87754976e-01 -1.25512129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:82.25, Y:-16.63, Z:-12.56 [[ 9.46684726e-01 2.85656686e-01 1.48957337e-01 8.22502245e+01] [-2.81997463e-01 9.58331323e-01 -4.55906259e-02 -1.66250931e+01] [-1.55773749e-01 1.15435807e-03 9.87792087e-01 -1.25571837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:82.28, Y:-16.64, Z:-12.56 [[ 9.47045061e-01 2.83913536e-01 1.49995856e-01 8.22754120e+01] [-2.81343113e-01 9.58832944e-01 -3.85413717e-02 -1.66371703e+01] [-1.54763386e-01 -5.69988551e-03 9.87935122e-01 -1.25591968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:-16.64, Z:-12.56 [[ 9.47012596e-01 2.85870862e-01 1.46441094e-01 8.23052564e+01] [-2.81239486e-01 9.58235374e-01 -5.18586445e-02 -1.66375383e+01] [-1.55149911e-01 7.92577173e-03 9.87859143e-01 -1.25638790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.27587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.33, Y:-16.65, Z:-12.57 [[ 9.46787063e-01 2.85300940e-01 1.48988696e-01 8.23303345e+01] [-2.81641003e-01 9.58437259e-01 -4.55671676e-02 -1.66478852e+01] [-1.55796673e-01 1.18107908e-03 9.87788440e-01 -1.25705489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:-16.66, Z:-12.57 [[ 9.46548389e-01 2.85918615e-01 1.49320771e-01 8.23564794e+01] [-2.82251741e-01 9.58253307e-01 -4.56569307e-02 -1.66553808e+01] [-1.56141289e-01 1.07044668e-03 9.87734151e-01 -1.25736402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:-16.66, Z:-12.58 [[ 9.46302206e-01 2.86618278e-01 1.49539615e-01 8.23833103e+01] [-2.82951494e-01 9.58044401e-01 -4.57097195e-02 -1.66624207e+01] [-1.56366832e-01 9.42750873e-04 9.87698600e-01 -1.25780117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36587156 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:82.41, Y:-16.67, Z:-12.58 [[ 9.45526319e-01 2.88859371e-01 1.50134085e-01 8.24098008e+01] [-2.85193108e-01 9.57371373e-01 -4.58796770e-02 -1.66685169e+01] [-1.56986850e-01 5.63235873e-04 9.87600532e-01 -1.25841335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:-16.68, Z:-12.59 [[ 9.45446877e-01 2.89283192e-01 1.49818015e-01 8.24356414e+01] [-2.85639556e-01 9.57243440e-01 -4.57716095e-02 -1.66760295e+01] [-1.56653269e-01 4.80674119e-04 9.87653544e-01 -1.25865794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:-16.68, Z:-12.59 [[ 9.45072640e-01 2.90204079e-01 1.50397132e-01 8.24625568e+01] [-2.86545825e-01 9.56964729e-01 -4.59347116e-02 -1.66829677e+01] [-1.57255191e-01 3.15969049e-04 9.87557950e-01 -1.25909440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.49, Y:-16.69, Z:-12.60 [[ 9.44757153e-01 2.91112297e-01 1.50623878e-01 8.24890348e+01] [-2.87456198e-01 9.56688877e-01 -4.59926928e-02 -1.66898492e+01] [-1.57489227e-01 1.54158201e-04 9.87520693e-01 -1.25951273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.52, Y:-16.70, Z:-12.60 [[ 9.44123442e-01 2.92763356e-01 1.51395324e-01 8.25152464e+01] [-2.89092446e-01 9.56184919e-01 -4.62164251e-02 -1.66964228e+01] [-1.58292402e-01 -1.33234163e-04 9.87392272e-01 -1.26013068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:-16.70, Z:-12.60 [[ 9.43993460e-01 2.92952960e-01 1.51838435e-01 8.25421105e+01] [-2.89264729e-01 9.56126839e-01 -4.63398841e-02 -1.67033996e+01] [-1.58752209e-01 -1.76956129e-04 9.87318441e-01 -1.26042478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:-16.71, Z:-12.61 [[ 9.43828130e-01 2.93306042e-01 1.52184186e-01 8.25679919e+01] [-2.89607381e-01 9.56018569e-01 -4.64334043e-02 -1.67091236e+01] [-1.59110106e-01 -2.48510452e-04 9.87260813e-01 -1.26084765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:-16.71, Z:-12.61 [[ 9.43427773e-01 2.94347508e-01 1.52655108e-01 8.25953538e+01] [-2.90641618e-01 9.55698358e-01 -4.65628473e-02 -1.67148086e+01] [-1.59597894e-01 -4.39244163e-04 9.87182009e-01 -1.26139129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:-16.72, Z:-12.62 [[ 9.43412382e-01 2.94530788e-01 1.52396496e-01 8.26213586e+01] [-2.90841808e-01 9.55641870e-01 -4.64721363e-02 -1.67216476e+01] [-1.59323948e-01 -4.80883637e-04 9.87226240e-01 -1.26180574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:-16.73, Z:-12.62 [[ 9.43362444e-01 2.94828005e-01 1.52130687e-01 8.26479763e+01] [-2.91158045e-01 9.55550183e-01 -4.63771584e-02 -1.67280297e+01] [-1.59041791e-01 -5.43604020e-04 9.87271702e-01 -1.26227079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:-16.74, Z:-12.63 [[ 9.43414797e-01 2.94658875e-01 1.52133718e-01 8.26748531e+01] [-2.90988334e-01 9.55602360e-01 -4.63672141e-02 -1.67360439e+01] [-1.59041851e-01 -5.25621208e-04 9.87271702e-01 -1.26275141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:-16.74, Z:-12.63 [[ 9.43252489e-01 2.95435336e-01 1.51633455e-01 8.27016155e+01] [-2.91803952e-01 9.55362494e-01 -4.61839684e-02 -1.67392565e+01] [-1.58509292e-01 -6.84098470e-04 9.87357249e-01 -1.26324225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.73, Y:-16.75, Z:-12.64 [[ 9.43128735e-01 2.95812972e-01 1.51666986e-01 8.27280207e+01] [-2.92187066e-01 9.55245574e-01 -4.61802150e-02 -1.67458820e+01] [-1.58539923e-01 -7.61243843e-04 9.87352274e-01 -1.26389290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:-16.75, Z:-12.64 [[ 9.43418390e-01 2.95095676e-01 1.51262303e-01 8.27544972e+01] [-2.91481945e-01 9.55467487e-01 -4.60451604e-02 -1.67527434e+01] [-1.58113940e-01 -6.50379139e-04 9.87420660e-01 -1.26422133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:-16.76, Z:-12.65 [[ 9.43566537e-01 2.94572603e-01 1.51357758e-01 8.27809623e+01] [-2.90949503e-01 9.55628930e-01 -4.60622990e-02 -1.67597737e+01] [-1.58210544e-01 -5.74620534e-04 9.87405233e-01 -1.26471465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:-16.77, Z:-12.65 [[ 9.44130424e-01 2.92509503e-01 1.51841806e-01 8.28070037e+01] [-2.88838433e-01 9.56262586e-01 -4.61976928e-02 -1.67651454e+01] [-1.58713902e-01 -2.41101923e-04 9.87324587e-01 -1.26516931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:-16.77, Z:-12.66 [[ 9.44182051e-01 2.92340943e-01 1.51845407e-01 8.28338841e+01] [-2.88669612e-01 9.56314134e-01 -4.61858534e-02 -1.67731419e+01] [-1.58713924e-01 -2.25300848e-04 9.87324587e-01 -1.26564995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:-16.78, Z:-12.66 [[ 9.44904486e-01 2.89470063e-01 1.52848276e-01 8.28605332e+01] [-2.85717445e-01 9.57187040e-01 -4.64597857e-02 -1.67794059e+01] [-1.59753106e-01 2.28640970e-04 9.87156975e-01 -1.26606664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:-16.79, Z:-12.67 [[ 9.45302016e-01 2.88017392e-01 1.53134193e-01 8.28860631e+01] [-2.84233628e-01 9.57625066e-01 -4.65346932e-02 -1.67860615e+01] [-1.60047942e-01 4.63452025e-04 9.87109133e-01 -1.26650380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:-16.79, Z:-12.67 [[ 9.45693135e-01 2.86608644e-01 1.53362250e-01 8.29130618e+01] [-2.82797404e-01 9.58047499e-01 -4.65898931e-02 -1.67931435e+01] [-1.60281386e-01 6.89295809e-04 9.87071123e-01 -1.26696970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:-16.80, Z:-12.67 [[ 9.46067422e-01 2.85184796e-01 1.53707729e-01 8.29402087e+01] [-2.81339546e-01 9.58472109e-01 -4.66827184e-02 -1.67999719e+01] [-1.60637773e-01 9.20936396e-04 9.87012998e-01 -1.26742450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.97, Y:-16.81, Z:-12.68 [[ 9.46642790e-01 2.83142180e-01 1.53941337e-01 8.29667419e+01] [-2.79260251e-01 9.59077121e-01 -4.67417203e-02 -1.68057363e+01] [-1.60876167e-01 1.25801611e-03 9.86973797e-01 -1.26788339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:-16.81, Z:-12.68 [[ 9.46908305e-01 2.82481643e-01 1.53521280e-01 8.29933706e+01] [-2.78614656e-01 9.59271750e-01 -4.66002387e-02 -1.68129798e+01] [-1.60432339e-01 1.35287450e-03 9.87045913e-01 -1.26838168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:83.02, Y:-16.82, Z:-12.69 [[ 9.46995174e-01 2.82207305e-01 1.53489993e-01 8.30193366e+01] [-2.78340284e-01 9.59352444e-01 -4.65786842e-02 -1.68199911e+01] [-1.60395845e-01 1.38734082e-03 9.87051796e-01 -1.26909808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:-16.83, Z:-12.69 [[ 9.47560203e-01 2.81172267e-01 1.51894102e-01 8.30457188e+01] [-2.77374374e-01 9.59656084e-01 -4.60831451e-02 -1.68251046e+01] [-1.58723402e-01 1.53502272e-03 9.87321896e-01 -1.26942610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:-16.83, Z:-12.70 [[ 9.47755576e-01 2.80903646e-01 1.51170468e-01 8.30729026e+01] [-2.77142143e-01 9.59734721e-01 -4.58420930e-02 -1.68319393e+01] [-1.57960758e-01 1.55139179e-03 9.87444172e-01 -1.26994896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:-16.84, Z:-12.70 [[ 9.47919730e-01 2.80490407e-01 1.50908309e-01 8.30989682e+01] [-2.76738702e-01 9.59855485e-01 -4.57508310e-02 -1.68380993e+01] [-1.57682838e-01 1.60594575e-03 9.87488503e-01 -1.27045847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:-16.84, Z:-12.71 [[ 9.47996306e-01 2.80169853e-01 1.51022704e-01 8.31251969e+01] [-2.76410595e-01 9.59949030e-01 -4.57716339e-02 -1.68441202e+01] [-1.57797930e-01 1.64706436e-03 9.87470050e-01 -1.27096727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.15, Y:-16.85, Z:-12.71 [[ 9.48163980e-01 2.79682762e-01 1.50872860e-01 8.31512220e+01] [-2.75927078e-01 9.60090943e-01 -4.57124659e-02 -1.68497459e+01] [-1.57636656e-01 1.71300608e-03 9.87495696e-01 -1.27141252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:-16.85, Z:-12.72 [[ 9.48599307e-01 2.78448101e-01 1.50419446e-01 8.31783888e+01] [-2.74701767e-01 9.60449398e-01 -4.55619619e-02 -1.68540455e+01] [-1.57156908e-01 1.89955789e-03 9.87571819e-01 -1.27188994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26587156000001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:83.20, Y:-16.86, Z:-12.73 [[ 9.48698796e-01 2.78106479e-01 1.50424001e-01 8.32034491e+01] [-2.74357506e-01 9.60548283e-01 -4.55516744e-02 -1.68611030e+01] [-1.57157732e-01 1.94486490e-03 9.87571600e-01 -1.27256423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:-16.87, Z:-12.73 [[ 9.49146878e-01 2.76519534e-01 1.50522925e-01 8.32307985e+01] [-2.72747960e-01 9.61005789e-01 -4.55677948e-02 -1.68684493e+01] [-1.57253788e-01 2.19570942e-03 9.87555783e-01 -1.27289734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.26, Y:-16.88, Z:-12.73 [[ 9.49916554e-01 2.73651882e-01 1.50907880e-01 8.32575943e+01] [-2.69826735e-01 9.61825108e-01 -4.56726858e-02 -1.68751641e+01] [-1.57645404e-01 2.66625984e-03 9.87492186e-01 -1.27336757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:83.28, Y:-16.88, Z:-12.74 [[ 9.50181317e-01 2.72563298e-01 1.51210822e-01 8.32837943e+01] [-2.68710876e-01 9.62133658e-01 -4.57524659e-02 -1.68824860e+01] [-1.57955465e-01 2.84114580e-03 9.87442150e-01 -1.27400865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:-16.89, Z:-12.74 [[ 9.50795424e-01 2.70395951e-01 1.51241830e-01 8.33098076e+01] [-2.66516612e-01 9.62743918e-01 -4.57497889e-02 -1.68889869e+01] [-1.57977710e-01 3.19022970e-03 9.87437525e-01 -1.27428284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:-16.90, Z:-12.75 [[ 9.51191951e-01 2.68791197e-01 1.51608591e-01 8.33365400e+01] [-2.64874932e-01 9.63192286e-01 -4.58463723e-02 -1.68961208e+01] [-1.58351327e-01 3.45138490e-03 9.87376800e-01 -1.27473957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:-16.90, Z:-12.75 [[ 9.51569924e-01 2.67406437e-01 1.51685454e-01 8.33619166e+01] [-2.63470546e-01 9.63576831e-01 -4.58580580e-02 -1.69031253e+01] [-1.58423329e-01 3.67249948e-03 9.87364452e-01 -1.27513619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47587156 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:83.39, Y:-16.91, Z:-12.76 [[ 9.52012074e-01 2.65701850e-01 1.51906347e-01 8.33876333e+01] [-2.61735050e-01 9.64047164e-01 -4.59110936e-02 -1.69120054e+01] [-1.58643546e-01 3.94869996e-03 9.87328027e-01 -1.27580208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:83.41, Y:-16.92, Z:-12.76 [[ 9.52155490e-01 2.65249130e-01 1.51798626e-01 8.34135122e+01] [-2.61284164e-01 9.64171572e-01 -4.58668171e-02 -1.69205884e+01] [-1.58526053e-01 4.00976466e-03 9.87346653e-01 -1.27619353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:-16.93, Z:-12.77 [[ 9.52230819e-01 2.64863680e-01 1.51999006e-01 8.34396835e+01] [-2.60885176e-01 9.64277285e-01 -4.59156039e-02 -1.69282732e+01] [-1.58730564e-01 4.06796586e-03 9.87313557e-01 -1.27651648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.47, Y:-16.94, Z:-12.77 [[ 9.52113475e-01 2.65301035e-01 1.51971352e-01 8.34665992e+01] [-2.61331753e-01 9.64157412e-01 -4.58933586e-02 -1.69363562e+01] [-1.58699861e-01 3.98074528e-03 9.87318848e-01 -1.27697438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:-16.94, Z:-12.77 [[ 9.51574662e-01 2.66999533e-01 1.52370971e-01 8.34923042e+01] [-2.63032724e-01 9.63689571e-01 -4.60021349e-02 -1.69428047e+01] [-1.59120864e-01 3.69591447e-03 9.87252192e-01 -1.27738039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:-16.95, Z:-12.78 [[ 9.51162445e-01 2.68219312e-01 1.52801844e-01 8.35187238e+01] [-2.64247412e-01 9.63351554e-01 -4.61203638e-02 -1.69504566e+01] [-1.59572266e-01 3.49046605e-03 9.87180079e-01 -1.27786051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:-16.96, Z:-12.78 [[ 9.50785563e-01 2.69323750e-01 1.53204216e-01 8.35437563e+01] [-2.65346918e-01 9.63044034e-01 -4.62298751e-02 -1.69578985e+01] [-1.59993209e-01 3.30243130e-03 9.87112591e-01 -1.27834729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:-16.97, Z:-12.79 [[ 9.50475753e-01 2.70481634e-01 1.53086673e-01 8.35702289e+01] [-2.66528125e-01 9.62720172e-01 -4.61804045e-02 -1.69665268e+01] [-1.59870580e-01 3.09145063e-03 9.87133142e-01 -1.27885088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:-16.97, Z:-12.79 [[ 9.49988249e-01 2.72135239e-01 1.53182041e-01 8.35971966e+01] [-2.68200033e-01 9.62254931e-01 -4.61972926e-02 -1.69741297e+01] [-1.59972086e-01 2.80345659e-03 9.87117558e-01 -1.27934380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.62, Y:-16.98, Z:-12.80 [[ 9.49762446e-01 2.72971651e-01 1.53094006e-01 8.36224579e+01] [-2.69053706e-01 9.62018429e-01 -4.61589134e-02 -1.69808487e+01] [-1.59879330e-01 2.64949299e-03 9.87133010e-01 -1.27990409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.65, Y:-16.99, Z:-12.80 [[ 9.49659099e-01 2.73483539e-01 1.52821300e-01 8.36490650e+01] [-2.69588480e-01 9.61873316e-01 -4.60627275e-02 -1.69881178e+01] [-1.59592129e-01 2.54502621e-03 9.87179758e-01 -1.28039892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.68, Y:-17.00, Z:-12.81 [[ 9.49617866e-01 2.73811702e-01 1.52489545e-01 8.36756474e+01] [-2.69939750e-01 9.61780139e-01 -4.59510008e-02 -1.69953657e+01] [-1.59243338e-01 2.47290146e-03 9.87236266e-01 -1.28084850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:-17.00, Z:-12.81 [[ 9.49564979e-01 2.73960921e-01 1.52550861e-01 8.37027578e+01] [-2.70089640e-01 9.61737736e-01 -4.59577366e-02 -1.70030013e+01] [-1.59304544e-01 2.43744995e-03 9.87226479e-01 -1.28120667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:-17.01, Z:-12.82 [[ 9.49222532e-01 2.75090187e-01 1.52649843e-01 8.37286072e+01] [-2.71230236e-01 9.61415821e-01 -4.59758521e-02 -1.70104600e+01] [-1.59407479e-01 2.23806191e-03 9.87210336e-01 -1.28164756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:-17.02, Z:-12.82 [[ 9.49112142e-01 2.75656232e-01 1.52314750e-01 8.37550201e+01] [-2.71822789e-01 9.61253935e-01 -4.58611347e-02 -1.70176397e+01] [-1.59055061e-01 2.12473956e-03 9.87267427e-01 -1.28212626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.78, Y:-17.03, Z:-12.83 [[ 9.48906694e-01 2.75803112e-01 1.53325568e-01 8.37813385e+01] [-2.72385330e-01 9.61213907e-01 -4.32903922e-02 -1.70264180e+01] [-1.59318293e-01 -6.85092536e-04 9.87227032e-01 -1.28270033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:-17.03, Z:-12.83 [[ 9.48754584e-01 2.77550051e-01 1.51098342e-01 8.38088535e+01] [-2.73304405e-01 9.60699123e-01 -4.85993609e-02 -1.70301090e+01] [-1.58648800e-01 4.81302391e-03 9.87323348e-01 -1.28300859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:-17.04, Z:-12.84 [[ 9.48419486e-01 2.78157746e-01 1.52081379e-01 8.38350537e+01] [-2.74375931e-01 9.60533981e-01 -4.57418780e-02 -1.70364408e+01] [-1.58802790e-01 1.65501834e-03 9.87308936e-01 -1.28355364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.86, Y:-17.04, Z:-12.84 [[ 9.48331806e-01 2.78179483e-01 1.52587554e-01 8.38616684e+01] [-2.74376095e-01 9.60527719e-01 -4.58722019e-02 -1.70425117e+01] [-1.59325281e-01 1.63569085e-03 9.87224787e-01 -1.28401046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:-17.05, Z:-12.84 [[ 9.48306444e-01 2.78015543e-01 1.53043279e-01 8.38884084e+01] [-2.74189051e-01 9.60575147e-01 -4.59973010e-02 -1.70496762e+01] [-1.59797535e-01 1.65674550e-03 9.87148420e-01 -1.28443767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:-17.06, Z:-12.85 [[ 9.48485521e-01 2.75797797e-01 1.55919182e-01 8.39140766e+01] [-2.72645929e-01 9.61211072e-01 -4.16830041e-02 -1.70596016e+01] [-1.61367324e-01 -2.97500428e-03 9.86889931e-01 -1.28506058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:-17.06, Z:-12.85 [[ 9.48989670e-01 2.76422243e-01 1.51688331e-01 8.39431710e+01] [-2.71788319e-01 9.61010262e-01 -5.08958367e-02 -1.70615213e+01] [-1.59842784e-01 7.07250686e-03 9.87117148e-01 -1.28529245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:-17.07, Z:-12.86 [[ 9.49432275e-01 2.74253397e-01 1.52851003e-01 8.39676840e+01] [-2.70396017e-01 9.61654854e-01 -4.58904727e-02 -1.70711330e+01] [-1.59575527e-01 2.23959352e-03 9.87183182e-01 -1.28584603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:83.99, Y:-17.08, Z:-12.86 [[ 9.49883955e-01 2.72939727e-01 1.52395465e-01 8.39936185e+01] [-2.69090827e-01 9.62028042e-01 -4.57402886e-02 -1.70786048e+01] [-1.59093053e-01 2.43974448e-03 9.87260578e-01 -1.28648611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:84.02, Y:-17.09, Z:-12.87 [[ 9.50994165e-01 2.69279222e-01 1.51982887e-01 8.40199587e+01] [-2.65406615e-01 9.63057372e-01 -4.56051216e-02 -1.70873197e+01] [-1.58648751e-01 3.03294116e-03 9.87330429e-01 -1.28698880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:-17.10, Z:-12.87 [[ 9.51678268e-01 2.66810819e-01 1.52054140e-01 8.40461627e+01] [-2.62905056e-01 9.63742801e-01 -4.56151874e-02 -1.70956709e+01] [-1.58711709e-01 3.43518028e-03 9.87318993e-01 -1.28733681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.07, Y:-17.10, Z:-12.88 [[ 9.52338777e-01 2.64564009e-01 1.51844458e-01 8.40722113e+01] [-2.60642591e-01 9.64360669e-01 -4.55405375e-02 -1.71047247e+01] [-1.58481210e-01 3.79288679e-03 9.87354708e-01 -1.28784371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:-17.11, Z:-12.88 [[ 9.53009297e-01 2.62278887e-01 1.51601669e-01 8.40976497e+01] [-2.58343242e-01 9.64983173e-01 -4.54559723e-02 -1.71137916e+01] [-1.58215202e-01 4.15469745e-03 9.87395913e-01 -1.28832265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:-17.12, Z:-12.89 [[ 9.53994902e-01 2.58608871e-01 1.51707546e-01 8.41230885e+01] [-2.54623790e-01 9.65970422e-01 -4.54738316e-02 -1.71245042e+01] [-1.58304939e-01 4.75345313e-03 9.87378829e-01 -1.28874348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.15, Y:-17.13, Z:-12.89 [[ 9.54312278e-01 2.57422451e-01 1.51729224e-01 8.41487727e+01] [-2.53423229e-01 9.66286336e-01 -4.54684860e-02 -1.71337492e+01] [-1.58318485e-01 4.93942471e-03 9.87375744e-01 -1.28928851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.17, Y:-17.14, Z:-12.90 [[ 9.54377235e-01 2.56806654e-01 1.52362843e-01 8.41749825e+01] [-2.52767836e-01 9.66449598e-01 -4.56464252e-02 -1.71439908e+01] [-1.58973314e-01 5.05148300e-03 9.87269957e-01 -1.28959451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.20, Y:-17.15, Z:-12.90 [[ 9.54093535e-01 2.57552790e-01 1.52879318e-01 8.42009035e+01] [-2.53497424e-01 9.66251628e-01 -4.57913425e-02 -1.71532402e+01] [-1.59513578e-01 4.93471053e-03 9.87183401e-01 -1.29003113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:-17.16, Z:-12.90 [[ 9.53667668e-01 2.58843406e-01 1.53356025e-01 8.42263545e+01] [-2.54780680e-01 9.65907745e-01 -4.59242083e-02 -1.71630386e+01] [-1.60014951e-01 4.72428029e-03 9.87103286e-01 -1.29045725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.25, Y:-17.17, Z:-12.91 [[ 9.53298373e-01 2.60337452e-01 1.53122898e-01 8.42514589e+01] [-2.56307821e-01 9.65507402e-01 -4.58449289e-02 -1.71722847e+01] [-1.59776444e-01 4.45729973e-03 9.87143161e-01 -1.29096236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.28, Y:-17.18, Z:-12.91 [[ 9.52741450e-01 2.62254786e-01 1.53317179e-01 8.42769678e+01] [-2.58242265e-01 9.64989853e-01 -4.58859067e-02 -1.71811132e+01] [-1.59983320e-01 4.12442982e-03 9.87111101e-01 -1.29141826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.30, Y:-17.19, Z:-12.92 [[ 9.52756446e-01 2.62198084e-01 1.53320970e-01 8.43038979e+01] [-2.58186871e-01 9.65005278e-01 -4.58732334e-02 -1.71890504e+01] [-1.59983419e-01 4.12055722e-03 9.87111101e-01 -1.29189912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:-17.20, Z:-12.92 [[ 9.51510621e-01 2.66866061e-01 1.53003409e-01 8.43300619e+01] [-2.62932965e-01 9.63727910e-01 -4.57686668e-02 -1.71984451e+01] [-1.59667759e-01 3.31973270e-03 9.87165227e-01 -1.29227500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:-17.21, Z:-12.93 [[ 9.50890218e-01 2.69350286e-01 1.52506447e-01 8.43567736e+01] [-2.65476456e-01 9.63037963e-01 -4.56084713e-02 -1.72067520e+01] [-1.59154153e-01 2.88177820e-03 9.87249538e-01 -1.29273130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:-17.21, Z:-12.93 [[ 9.50161820e-01 2.72002945e-01 1.52338158e-01 8.43825446e+01] [-2.68173499e-01 9.62293368e-01 -4.55461070e-02 -1.72140415e+01] [-1.58982674e-01 2.42311508e-03 9.87278399e-01 -1.29321097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:-17.22, Z:-12.94 [[ 9.48648754e-01 2.77338919e-01 1.52146857e-01 8.44084983e+01] [-2.73589500e-01 9.60770957e-01 -4.54747498e-02 -1.72205392e+01] [-1.58790200e-01 1.51378214e-03 9.87311188e-01 -1.29362537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:-17.23, Z:-12.94 [[ 9.47911101e-01 2.79876490e-01 1.52097652e-01 8.44351908e+01] [-2.76164111e-01 9.60035413e-01 -4.54465663e-02 -1.72284116e+01] [-1.58738557e-01 1.07539201e-03 9.87320067e-01 -1.29409116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:-17.24, Z:-12.95 [[ 9.46962047e-01 2.81763613e-01 1.54506145e-01 8.44602813e+01] [-2.78670196e-01 9.59477510e-01 -4.17831301e-02 -1.72382559e+01] [-1.60018137e-01 -3.48921928e-03 9.87107908e-01 -1.29470986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:-17.24, Z:-12.95 [[ 9.46391684e-01 2.85596850e-01 1.50921237e-01 8.44885356e+01] [-2.81324020e-01 9.58340212e-01 -4.94047891e-02 -1.72405339e+01] [-1.58743742e-01 4.29851252e-03 9.87310461e-01 -1.29493735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:-17.25, Z:-12.96 [[ 9.45168294e-01 2.89253412e-01 1.51622425e-01 8.45153670e+01] [-2.85692200e-01 9.57252404e-01 -4.52526384e-02 -1.72479071e+01] [-1.58230411e-01 -5.45985144e-04 9.87402065e-01 -1.29556048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:-17.25, Z:-12.96 [[ 9.44806947e-01 2.90693449e-01 1.51119661e-01 8.45424612e+01] [-2.87176127e-01 9.56815910e-01 -4.50908731e-02 -1.72542647e+01] [-1.57701317e-01 -7.95788672e-04 9.87486537e-01 -1.29605080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:84.57, Y:-17.26, Z:-12.97 [[ 9.44760710e-01 2.91170524e-01 1.50488961e-01 8.45687538e+01] [-2.87690546e-01 9.56670762e-01 -4.48910125e-02 -1.72600694e+01] [-1.57039329e-01 -8.82986706e-04 9.87591955e-01 -1.29667769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:-17.27, Z:-12.97 [[ 9.44746215e-01 2.91247241e-01 1.50431490e-01 8.45946412e+01] [-2.87772771e-01 9.56647387e-01 -4.48621200e-02 -1.72662030e+01] [-1.56975860e-01 -9.06768620e-04 9.87602024e-01 -1.29709683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:-17.27, Z:-12.98 [[ 9.45020377e-01 2.90472180e-01 1.50207857e-01 8.46214072e+01] [-2.87000326e-01 9.56883112e-01 -4.47830563e-02 -1.72727032e+01] [-1.56739593e-01 -7.88803129e-04 9.87639650e-01 -1.29755116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:-17.28, Z:-12.98 [[ 9.45882545e-01 2.87485916e-01 1.50525941e-01 8.46475447e+01] [-2.83966774e-01 9.57784810e-01 -4.48456137e-02 -1.72790299e+01] [-1.57063942e-01 -3.25682617e-04 9.87588382e-01 -1.29800058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:-17.29, Z:-12.98 [[ 9.46487131e-01 2.85661628e-01 1.50198355e-01 8.46742931e+01] [-2.82138541e-01 9.58330545e-01 -4.47259544e-02 -1.72866584e+01] [-1.56716160e-01 -4.42045487e-05 9.87643682e-01 -1.29846681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.70, Y:-17.29, Z:-12.99 [[ 9.47117905e-01 2.83556295e-01 1.50211525e-01 8.47003965e+01] [-2.80008009e-01 9.58955547e-01 -4.47188242e-02 -1.72934338e+01] [-1.56726479e-01 2.93568944e-04 9.87642002e-01 -1.29895342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:-17.30, Z:-12.99 [[ 9.47635709e-01 2.81773564e-01 1.50300436e-01 8.47270450e+01] [-2.78202275e-01 9.59480764e-01 -4.47231204e-02 -1.72995241e+01] [-1.56812170e-01 5.67302873e-04 9.87628281e-01 -1.29941297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:-17.30, Z:-13.00 [[ 9.48534083e-01 2.78544515e-01 1.50652072e-01 8.47537655e+01] [-2.74917757e-01 9.60422698e-01 -4.48159300e-02 -1.73049070e+01] [-1.57172901e-01 1.09250739e-03 9.87570497e-01 -1.29987748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:-17.31, Z:-13.00 [[ 9.48919131e-01 2.77076611e-01 1.50933877e-01 8.47800981e+01] [-2.73419591e-01 9.60846913e-01 -4.48880429e-02 -1.73120415e+01] [-1.57461776e-01 1.32684387e-03 9.87524191e-01 -1.30039048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.81, Y:-17.32, Z:-13.01 [[ 9.49451611e-01 2.75408964e-01 1.50637116e-01 8.48065800e+01] [-2.71747380e-01 9.61325844e-01 -4.47882073e-02 -1.73184349e+01] [-1.57146426e-01 1.58899388e-03 9.87574036e-01 -1.30094769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:-17.32, Z:-13.01 [[ 9.50076459e-01 2.73019173e-01 1.51047190e-01 8.48329595e+01] [-2.69309298e-01 9.62006557e-01 -4.48986183e-02 -1.73238472e+01] [-1.57566571e-01 1.97870765e-03 9.87506385e-01 -1.30124674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.86, Y:-17.33, Z:-13.02 [[ 9.50609878e-01 2.71211251e-01 1.50948059e-01 8.48593635e+01] [-2.67485784e-01 9.62517186e-01 -4.48555725e-02 -1.73305272e+01] [-1.57455437e-01 2.26369058e-03 9.87523499e-01 -1.30180294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:-17.34, Z:-13.02 [[ 9.50927313e-01 2.69675202e-01 1.51698816e-01 8.48860888e+01] [-2.65894744e-01 9.62948045e-01 -4.50671504e-02 -1.73376509e+01] [-1.58231571e-01 2.51966648e-03 9.87398816e-01 -1.30213926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:-17.35, Z:-13.03 [[ 9.51457728e-01 2.67631783e-01 1.51991516e-01 8.49128251e+01] [-2.63812544e-01 9.63517038e-01 -4.51426447e-02 -1.73450829e+01] [-1.58528022e-01 2.85404952e-03 9.87350354e-01 -1.30255650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:-17.35, Z:-13.03 [[ 9.52509108e-01 2.63697331e-01 1.52283015e-01 8.49396047e+01] [-2.59815196e-01 9.64599106e-01 -4.52175755e-02 -1.73524671e+01] [-1.58815814e-01 3.50471123e-03 9.87302008e-01 -1.30303543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:-17.36, Z:-13.03 [[ 9.53088075e-01 2.61695788e-01 1.52113232e-01 8.49662306e+01] [-2.57798906e-01 9.65142840e-01 -4.51555271e-02 -1.73598970e+01] [-1.58628008e-01 3.82256954e-03 9.87331020e-01 -1.30347040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30587156 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:84.99, Y:-17.37, Z:-13.04 [[ 9.54213694e-01 2.57924147e-01 1.51497065e-01 8.49929582e+01] [-2.54013615e-01 9.66155059e-01 -4.49609363e-02 -1.73670925e+01] [-1.57966167e-01 4.42002398e-03 9.87434633e-01 -1.30412223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:-17.38, Z:-13.04 [[ 9.54457547e-01 2.56904495e-01 1.51693346e-01 8.50188414e+01] [-2.52972823e-01 9.66425927e-01 -4.50075453e-02 -1.73755139e+01] [-1.58163023e-01 4.58349731e-03 9.87402375e-01 -1.30442719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:85.05, Y:-17.38, Z:-13.05 [[ 9.54935935e-01 2.55143528e-01 1.51654674e-01 8.50452018e+01] [-2.51194022e-01 9.66890974e-01 -4.49823025e-02 -1.73829126e+01] [-1.58110479e-01 4.86046966e-03 9.87409465e-01 -1.30502585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:-17.39, Z:-13.05 [[ 9.55038769e-01 2.54534472e-01 1.52030100e-01 8.50712630e+01] [-2.50559349e-01 9.67050966e-01 -4.50826174e-02 -1.73907910e+01] [-1.58495936e-01 4.96308442e-03 9.87347156e-01 -1.30535470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.10, Y:-17.40, Z:-13.06 [[ 9.55572592e-01 2.52982748e-01 1.51263847e-01 8.50979730e+01] [-2.49031573e-01 9.67456948e-01 -4.48367026e-02 -1.73991681e+01] [-1.57684172e-01 5.17525024e-03 9.87476034e-01 -1.30584613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.12, Y:-17.41, Z:-13.06 [[ 9.55818724e-01 2.52334096e-01 1.50791482e-01 8.51244210e+01] [-2.48401473e-01 9.67625905e-01 -4.46857410e-02 -1.74078990e+01] [-1.57185480e-01 5.25464182e-03 9.87555119e-01 -1.30634090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:85.15, Y:-17.42, Z:-13.07 [[ 9.56062521e-01 2.51669251e-01 1.50356392e-01 8.51497651e+01] [-2.47753045e-01 9.67798585e-01 -4.45457917e-02 -1.74159896e+01] [-1.56725510e-01 5.33730793e-03 9.87627778e-01 -1.30694535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:-17.42, Z:-13.07 [[ 9.55981486e-01 2.51927647e-01 1.50438891e-01 8.51763361e+01] [-2.48012359e-01 9.67731641e-01 -4.45571763e-02 -1.74249981e+01] [-1.56809659e-01 5.28513148e-03 9.87614701e-01 -1.30725669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:-17.43, Z:-13.08 [[ 9.55762631e-01 2.52582889e-01 1.50730479e-01 8.52020072e+01] [-2.48662243e-01 9.67561413e-01 -4.46318340e-02 -1.74346083e+01] [-1.57114233e-01 5.17646011e-03 9.87566870e-01 -1.30769197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:-17.44, Z:-13.08 [[ 9.55487683e-01 2.53576004e-01 1.50806160e-01 8.52281678e+01] [-2.49665174e-01 9.67302510e-01 -4.46447687e-02 -1.74431323e+01] [-1.57196019e-01 5.00648050e-03 9.87554731e-01 -1.30816752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.25, Y:-17.45, Z:-13.09 [[ 9.55200686e-01 2.54772150e-01 1.50608102e-01 8.52541826e+01] [-2.50888283e-01 9.66989240e-01 -4.45744137e-02 -1.74510371e+01] [-1.56992734e-01 4.79170242e-03 9.87588133e-01 -1.30868740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:-17.46, Z:-13.09 [[ 9.54520495e-01 2.57108996e-01 1.50948962e-01 8.52794037e+01] [-2.53237825e-01 9.66372353e-01 -4.46662996e-02 -1.74592393e+01] [-1.57357011e-01 4.40891160e-03 9.87531940e-01 -1.30906102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:-17.47, Z:-13.09 [[ 9.53130421e-01 2.62267029e-01 1.50858894e-01 8.53054598e+01] [-2.58467635e-01 9.64988858e-01 -4.46204672e-02 -1.74675228e+01] [-1.57279629e-01 3.53698316e-03 9.87547775e-01 -1.30944242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:-17.48, Z:-13.10 [[ 9.52294714e-01 2.65137673e-01 1.51118468e-01 8.53317316e+01] [-2.61362502e-01 9.64205713e-01 -4.46876553e-02 -1.74758692e+01] [-1.57557671e-01 3.05911713e-03 9.87505049e-01 -1.30997337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:-17.48, Z:-13.10 [[ 9.51505968e-01 2.67885504e-01 1.51240699e-01 8.53568623e+01] [-2.64140482e-01 9.63447260e-01 -4.47122341e-02 -1.74834303e+01] [-1.57690197e-01 2.59516638e-03 9.87485224e-01 -1.31045000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:-17.49, Z:-13.11 [[ 9.50876237e-01 2.70206992e-01 1.51071384e-01 8.53837389e+01] [-2.66501673e-01 9.62799754e-01 -4.46485429e-02 -1.74909806e+01] [-1.57515840e-01 2.19446180e-03 9.87514022e-01 -1.31093755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:-17.50, Z:-13.11 [[ 9.49805904e-01 2.73898481e-01 1.51156763e-01 8.54107600e+01] [-2.70237187e-01 9.61757324e-01 -4.46622085e-02 -1.74974063e+01] [-1.57609035e-01 1.57225108e-03 9.87500339e-01 -1.31135584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:-17.50, Z:-13.12 [[ 9.49426213e-01 2.75069815e-01 1.51414872e-01 8.54369793e+01] [-2.71412589e-01 9.61423280e-01 -4.47267648e-02 -1.75048271e+01] [-1.57876766e-01 1.36886045e-03 9.87457874e-01 -1.31182409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:-17.51, Z:-13.12 [[ 9.49191324e-01 2.75704070e-01 1.51733637e-01 8.54621249e+01] [-2.72041247e-01 9.61241745e-01 -4.48092471e-02 -1.75122376e+01] [-1.58206798e-01 1.25474075e-03 9.87405203e-01 -1.31224573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:85.49, Y:-17.52, Z:-13.13 [[ 9.49140029e-01 2.75516523e-01 1.52393733e-01 8.54877702e+01] [-2.71821371e-01 9.61295486e-01 -4.49903401e-02 -1.75197473e+01] [-1.58890989e-01 1.27825936e-03 9.87295305e-01 -1.31286742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:-17.53, Z:-13.13 [[ 9.49040569e-01 2.75632085e-01 1.52803637e-01 8.55135751e+01] [-2.71920519e-01 9.61262395e-01 -4.50981027e-02 -1.75283476e+01] [-1.59314874e-01 1.24948473e-03 9.87227030e-01 -1.31317193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:-17.54, Z:-13.14 [[ 9.49140968e-01 2.75199977e-01 1.52958806e-01 8.55395184e+01] [-2.71478779e-01 9.61386123e-01 -4.51220035e-02 -1.75364421e+01] [-1.59470047e-01 1.30207222e-03 9.87201909e-01 -1.31366237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:-17.54, Z:-13.14 [[ 9.49207759e-01 2.74847347e-01 1.53178216e-01 8.55646578e+01] [-2.71112732e-01 9.61486926e-01 -4.51749728e-02 -1.75442099e+01] [-1.59695074e-01 1.35187003e-03 9.87165465e-01 -1.31412481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:-17.55, Z:-13.15 [[ 9.49497192e-01 2.73753197e-01 1.53343634e-01 8.55917327e+01] [-2.69998529e-01 9.61798765e-01 -4.52098415e-02 -1.75515781e+01] [-1.59862057e-01 1.52406182e-03 9.87138187e-01 -1.31460746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:-17.56, Z:-13.15 [[ 9.49759309e-01 2.73025001e-01 1.53018314e-01 8.56168612e+01] [-2.69278823e-01 9.62005554e-01 -4.51024386e-02 -1.75586661e+01] [-1.59518561e-01 1.63186944e-03 9.87193581e-01 -1.31507420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:-17.57, Z:-13.16 [[ 9.50140589e-01 2.71888735e-01 1.52674085e-01 8.56435747e+01] [-2.68148444e-01 9.62327016e-01 -4.49791743e-02 -1.75659711e+01] [-1.59151728e-01 1.79722074e-03 9.87252499e-01 -1.31561843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:-17.57, Z:-13.16 [[ 9.50481951e-01 2.70699401e-01 1.52662685e-01 8.56697836e+01] [-2.66946308e-01 9.62661880e-01 -4.49641418e-02 -1.75741862e+01] [-1.59134314e-01 1.98486507e-03 9.87254947e-01 -1.31614769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:-17.58, Z:-13.17 [[ 9.51281428e-01 2.67669744e-01 1.53024683e-01 8.56956273e+01] [-2.63861634e-01 9.63507512e-01 -4.50589902e-02 -1.75840637e+01] [-1.59501360e-01 2.48643759e-03 9.87194577e-01 -1.31664790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:85.72, Y:-17.59, Z:-13.17 [[ 9.51731343e-01 2.65985376e-01 1.53164066e-01 8.57220834e+01] [-2.62150511e-01 9.63973113e-01 -4.50882056e-02 -1.75922998e+01] [-1.59638845e-01 2.75982034e-03 9.87171628e-01 -1.31728452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:-17.60, Z:-13.18 [[ 9.51885339e-01 2.65064970e-01 1.53801378e-01 8.57470618e+01] [-2.61187878e-01 9.64226148e-01 -4.52639861e-02 -1.76011323e+01] [-1.60297208e-01 2.91506916e-03 9.87064490e-01 -1.31754765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:-17.61, Z:-13.18 [[ 9.52507002e-01 2.62647901e-01 1.54098968e-01 8.57720183e+01] [-2.58726483e-01 9.64886050e-01 -4.53378086e-02 -1.76111295e+01] [-1.60595825e-01 3.31509612e-03 9.87014686e-01 -1.31804300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:-17.62, Z:-13.19 [[ 9.52819415e-01 2.61547235e-01 1.54039627e-01 8.57981188e+01] [-2.57616816e-01 9.65184383e-01 -4.53065417e-02 -1.76206793e+01] [-1.60526444e-01 3.48575421e-03 9.87025385e-01 -1.31853473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:-17.63, Z:-13.19 [[ 9.53113885e-01 2.60385242e-01 1.54186403e-01 8.58237991e+01] [-2.56434025e-01 9.65497813e-01 -4.53383174e-02 -1.76294850e+01] [-1.60672064e-01 3.67393980e-03 9.87001008e-01 -1.31899556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:-17.64, Z:-13.19 [[ 9.53392842e-01 2.59481712e-01 1.53984833e-01 8.58493188e+01] [-2.55531075e-01 9.65740507e-01 -4.52674585e-02 -1.76392017e+01] [-1.60455469e-01 3.80976088e-03 9.87035728e-01 -1.31947949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:-17.65, Z:-13.20 [[ 9.54116337e-01 2.57299213e-01 1.53163736e-01 8.58743802e+01] [-2.53364843e-01 9.66322903e-01 -4.50144810e-02 -1.76512451e+01] [-1.59587817e-01 4.14274578e-03 9.87175043e-01 -1.32003745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:-17.66, Z:-13.21 [[ 9.54357932e-01 2.56498518e-01 1.53001464e-01 8.59005382e+01] [-2.52563846e-01 9.66535224e-01 -4.49573651e-02 -1.76612133e+01] [-1.59412802e-01 4.26277976e-03 9.87202810e-01 -1.32054641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:-17.67, Z:-13.21 [[ 9.54447042e-01 2.56216988e-01 1.52917297e-01 8.59261831e+01] [-2.52284979e-01 9.66609746e-01 -4.49209201e-02 -1.76704002e+01] [-1.59320852e-01 4.29590230e-03 9.87217510e-01 -1.32103570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.95, Y:-17.68, Z:-13.22 [[ 9.54594463e-01 2.55934781e-01 1.52469013e-01 8.59524669e+01] [-2.52023909e-01 9.66684395e-01 -4.47797902e-02 -1.76788293e+01] [-1.58850121e-01 4.32070302e-03 9.87293255e-01 -1.32163131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.98, Y:-17.69, Z:-13.22 [[ 9.54622638e-01 2.55827919e-01 1.52471948e-01 8.59794311e+01] [-2.51917289e-01 9.66712648e-01 -4.47697956e-02 -1.76865975e+01] [-1.58849924e-01 4.32794057e-03 9.87293255e-01 -1.32211203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:86.01, Y:-17.70, Z:-13.23 [[ 9.54477993e-01 2.56446343e-01 1.52338552e-01 8.60059834e+01] [-2.52553465e-01 9.66549332e-01 -4.47117093e-02 -1.76955571e+01] [-1.58708880e-01 4.20271353e-03 9.87316478e-01 -1.32253360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:-17.71, Z:-13.23 [[ 9.53262162e-01 2.60421240e-01 1.53205837e-01 8.60313156e+01] [-2.56536392e-01 9.65488566e-01 -4.49545100e-02 -1.77076640e+01] [-1.59625593e-01 3.55056060e-03 9.87171243e-01 -1.32284523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:-17.72, Z:-13.23 [[ 9.52566579e-01 2.62893903e-01 1.53309194e-01 8.60576923e+01] [-2.59037094e-01 9.64819674e-01 -4.49753254e-02 -1.77172996e+01] [-1.59739465e-01 3.12922374e-03 9.87154249e-01 -1.32325069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:-17.73, Z:-13.24 [[ 9.51668936e-01 2.65845883e-01 1.53792726e-01 8.60825804e+01] [-2.62004600e-01 9.64011951e-01 -4.51059647e-02 -1.77259102e+01] [-1.60249261e-01 2.63154377e-03 9.87073072e-01 -1.32372123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:-17.73, Z:-13.24 [[ 9.50773498e-01 2.69009030e-01 1.53830744e-01 8.61093836e+01] [-2.65209714e-01 9.63135403e-01 -4.50999143e-02 -1.77343003e+01] [-1.60292120e-01 2.08239569e-03 9.87067424e-01 -1.32416062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:86.14, Y:-17.74, Z:-13.25 [[ 9.49345076e-01 2.74135038e-01 1.53603084e-01 8.61361824e+01] [-2.70415401e-01 9.61690454e-01 -4.50220160e-02 -1.77411381e+01] [-1.60060732e-01 1.20478978e-03 9.87106433e-01 -1.32479119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:-17.75, Z:-13.25 [[ 9.48508324e-01 2.76807996e-01 1.53978223e-01 8.61631056e+01] [-2.73106843e-01 9.60924960e-01 -4.51206562e-02 -1.77490009e+01] [-1.60451276e-01 7.44811692e-04 9.87043481e-01 -1.32518065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:-17.76, Z:-13.26 [[ 9.47839424e-01 2.78882493e-01 1.54353428e-01 8.61887324e+01] [-2.75192410e-01 9.60325158e-01 -4.52186794e-02 -1.77559967e+01] [-1.60840178e-01 3.83155224e-04 9.86980390e-01 -1.32564488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:-17.76, Z:-13.26 [[ 9.47002961e-01 2.81914262e-01 1.53979677e-01 8.62148807e+01] [-2.78283837e-01 9.59439591e-01 -4.50974208e-02 -1.77635553e+01] [-1.60447805e-01 -1.42664450e-04 9.87044316e-01 -1.32613793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:86.24, Y:-17.77, Z:-13.27 [[ 9.46862575e-01 2.82675725e-01 1.53446079e-01 8.62414681e+01] [-2.79082439e-01 9.59215489e-01 -4.49292527e-02 -1.77712917e+01] [-1.59888265e-01 -2.82278089e-04 9.87135078e-01 -1.32670039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:86.27, Y:-17.78, Z:-13.27 [[ 9.46639827e-01 2.83303059e-01 1.53663319e-01 8.62670890e+01] [-2.79709664e-01 9.59030352e-01 -4.49809651e-02 -1.77787660e+01] [-1.60111032e-01 -4.00342480e-04 9.87098930e-01 -1.32725331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-17.79, Z:-13.28 [[ 9.46495925e-01 2.83667591e-01 1.53877099e-01 8.62922760e+01] [-2.80071119e-01 9.58922557e-01 -4.50299602e-02 -1.77864957e+01] [-1.60329761e-01 -4.75857362e-04 9.87063393e-01 -1.32757885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-17.79, Z:-13.28 [[ 9.46632243e-01 2.83132169e-01 1.54024581e-01 8.63177638e+01] [-2.79525186e-01 9.59080815e-01 -4.50517562e-02 -1.77941346e+01] [-1.60477622e-01 -4.06304623e-04 9.87039395e-01 -1.32804506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-17.80, Z:-13.29 [[ 9.46822955e-01 2.82428883e-01 1.54143498e-01 8.63437469e+01] [-2.78809214e-01 9.59288192e-01 -4.50731177e-02 -1.78018954e+01] [-1.60597988e-01 -3.00365154e-04 9.87019856e-01 -1.32856450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-17.81, Z:-13.29 [[ 9.47076831e-01 2.81582800e-01 1.54131769e-01 8.63699116e+01] [-2.77954492e-01 9.59536919e-01 -4.50577639e-02 -1.78100428e+01] [-1.60582614e-01 -1.68453297e-04 9.87022389e-01 -1.32907369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:-17.82, Z:-13.30 [[ 9.47541468e-01 2.80046751e-01 1.54074601e-01 8.63956637e+01] [-2.76402908e-01 9.59986360e-01 -4.50291225e-02 -1.78171619e+01] [-1.60519774e-01 8.02931462e-05 9.87032621e-01 -1.32950127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-17.82, Z:-13.30 [[ 9.47761851e-01 2.79304571e-01 1.54066317e-01 8.64219483e+01] [-2.75653662e-01 9.60202541e-01 -4.50126534e-02 -1.78241936e+01] [-1.60507109e-01 1.92331237e-04 9.87034666e-01 -1.32996176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:-17.83, Z:-13.30 [[ 9.47873243e-01 2.78859904e-01 1.54186476e-01 8.64476138e+01] [-2.75199343e-01 9.60331759e-01 -4.50359101e-02 -1.78317170e+01] [-1.60628880e-01 2.56317155e-04 9.87014842e-01 -1.33044713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:-17.84, Z:-13.31 [[ 9.48004697e-01 2.78069964e-01 1.54803713e-01 8.64746405e+01] [-2.74371670e-01 9.60560749e-01 -4.52021510e-02 -1.78388602e+01] [-1.61267731e-01 3.78098304e-04 9.86910622e-01 -1.33090453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:86.50, Y:-17.85, Z:-13.31 [[ 9.48080649e-01 2.77753504e-01 1.54906664e-01 8.65002107e+01] [-2.74047952e-01 9.60652286e-01 -4.52206393e-02 -1.78452621e+01] [-1.61371632e-01 4.20958942e-04 9.86893621e-01 -1.33142219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:86.53, Y:-17.85, Z:-13.32 [[ 9.48136416e-01 2.77497695e-01 1.55023759e-01 8.65271307e+01] [-2.73786620e-01 9.60726200e-01 -4.52333374e-02 -1.78523687e+01] [-1.61487534e-01 4.43943533e-04 9.86874652e-01 -1.33195657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:-17.86, Z:-13.32 [[ 9.48353881e-01 2.76685855e-01 1.55144622e-01 8.65524694e+01] [-2.72960086e-01 9.60960255e-01 -4.52568209e-02 -1.78602288e+01] [-1.61609738e-01 5.71192305e-04 9.86854582e-01 -1.33240615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-17.87, Z:-13.33 [[ 9.48517708e-01 2.76066906e-01 1.55245678e-01 8.65793782e+01] [-2.72330282e-01 9.61138191e-01 -4.52724503e-02 -1.78675571e+01] [-1.61710775e-01 6.63621522e-04 9.86837973e-01 -1.33293585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:-17.87, Z:-13.33 [[ 9.48811951e-01 2.75306228e-01 1.54797813e-01 8.66065615e+01] [-2.71583105e-01 9.61356268e-01 -4.51302982e-02 -1.78744488e+01] [-1.61240500e-01 7.79695591e-04 9.86914836e-01 -1.33335623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:-17.88, Z:-13.34 [[ 9.49075344e-01 2.74475204e-01 1.54658831e-01 8.66330424e+01] [-2.70749737e-01 9.61593748e-01 -4.50781869e-02 -1.78808698e+01] [-1.61091809e-01 9.08758017e-04 9.86939007e-01 -1.33384771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:-17.89, Z:-13.34 [[ 9.49277363e-01 2.73840634e-01 1.54543831e-01 8.66592222e+01] [-2.70114272e-01 9.61774557e-01 -4.50331182e-02 -1.78875895e+01] [-1.60968222e-01 1.00442531e-03 9.86959078e-01 -1.33427591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:-17.89, Z:-13.35 [[ 9.49720445e-01 2.72292891e-01 1.54556325e-01 8.66852423e+01] [-2.68547760e-01 9.62213599e-01 -4.50232259e-02 -1.78929809e+01] [-1.60975702e-01 1.25372323e-03 9.86957573e-01 -1.33474084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:-17.90, Z:-13.35 [[ 9.49970504e-01 2.71295390e-01 1.54773551e-01 8.67117110e+01] [-2.67528702e-01 9.62495100e-01 -4.50729991e-02 -1.78994278e+01] [-1.61196882e-01 1.41165239e-03 9.86921260e-01 -1.33520152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-17.91, Z:-13.36 [[ 9.50249700e-01 2.70119320e-01 1.55116280e-01 8.67381305e+01] [-2.66322189e-01 9.62825520e-01 -4.51609204e-02 -1.79065170e+01] [-1.61548750e-01 1.60324380e-03 9.86863431e-01 -1.33570505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:-17.91, Z:-13.36 [[ 9.51007108e-01 2.67093997e-01 1.55712162e-01 8.67636103e+01] [-2.63229067e-01 9.63668163e-01 -4.53225165e-02 -1.79149091e+01] [-1.62160225e-01 2.11406821e-03 9.86762176e-01 -1.33620751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:-17.92, Z:-13.37 [[ 9.51558362e-01 2.65018325e-01 1.55890895e-01 8.67901327e+01] [-2.61119064e-01 9.64240245e-01 -4.53606089e-02 -1.79231019e+01] [-1.62337667e-01 2.45718210e-03 9.86732205e-01 -1.33671737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.82, Y:-17.93, Z:-13.37 [[ 9.52158718e-01 2.62726077e-01 1.56105040e-01 8.68161958e+01] [-2.58787327e-01 9.64866280e-01 -4.54112386e-02 -1.79309509e+01] [-1.62551206e-01 2.84070065e-03 9.86696020e-01 -1.33730672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:-17.94, Z:-13.38 [[ 9.52724565e-01 2.60582977e-01 1.56244731e-01 8.68433554e+01] [-2.56610455e-01 9.65446159e-01 -4.54399356e-02 -1.79396547e+01] [-1.62686749e-01 3.19771137e-03 9.86672588e-01 -1.33774161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-17.95, Z:-13.38 [[ 9.53650889e-01 2.56694927e-01 1.57027691e-01 8.68702565e+01] [-2.52631127e-01 9.66484719e-01 -4.56596268e-02 -1.79494289e+01] [-1.63485458e-01 3.87326123e-03 9.86538141e-01 -1.33825124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:-17.96, Z:-13.39 [[ 9.54025859e-01 2.55145681e-01 1.57274732e-01 8.68962576e+01] [-2.51049394e-01 9.66893769e-01 -4.57235282e-02 -1.79581592e+01] [-1.63734120e-01 4.13770204e-03 9.86495827e-01 -1.33872941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:-17.97, Z:-13.39 [[ 9.54428822e-01 2.53822999e-01 1.56969771e-01 8.69229838e+01] [-2.49726589e-01 9.67240919e-01 -4.56249410e-02 -1.79671423e+01] [-1.63408245e-01 4.34623314e-03 9.86548963e-01 -1.33920908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:-17.98, Z:-13.40 [[ 9.54689854e-01 2.53084187e-01 1.56574830e-01 8.69494307e+01] [-2.48999901e-01 9.67434007e-01 -4.55026521e-02 -1.79765133e+01] [-1.62991817e-01 4.45380306e-03 9.86617368e-01 -1.33970843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:-17.99, Z:-13.40 [[ 9.54911776e-01 2.52676838e-01 1.55877888e-01 8.69741582e+01] [-2.48624964e-01 9.67540288e-01 -4.52925945e-02 -1.79877934e+01] [-1.62262526e-01 4.49529736e-03 9.86737384e-01 -1.34024724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:-18.00, Z:-13.41 [[ 9.54827744e-01 2.52927299e-01 1.55986412e-01 8.70002533e+01] [-2.48874609e-01 9.67475069e-01 -4.53146810e-02 -1.79974534e+01] [-1.62374285e-01 4.44665729e-03 9.86719220e-01 -1.34073837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:-18.01, Z:-13.41 [[ 9.54693259e-01 2.53417688e-01 1.56013645e-01 8.70269408e+01] [-2.49371856e-01 9.67347158e-01 -4.53117432e-02 -1.80071521e+01] [-1.62402153e-01 4.35340357e-03 9.86715049e-01 -1.34121232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:-18.02, Z:-13.42 [[ 9.54395772e-01 2.54560835e-01 1.55972726e-01 8.70534604e+01] [-2.50533563e-01 9.67047857e-01 -4.52921277e-02 -1.80178785e+01] [-1.62362693e-01 4.15021238e-03 9.86722419e-01 -1.34165849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:-18.03, Z:-13.42 [[ 9.54306865e-01 2.55011293e-01 1.55780769e-01 8.70796006e+01] [-2.51001224e-01 9.66929547e-01 -4.52287118e-02 -1.80277609e+01] [-1.62162861e-01 4.06090637e-03 9.86755651e-01 -1.34215460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:-18.04, Z:-13.43 [[ 9.54174101e-01 2.55637284e-01 1.55567876e-01 8.71049433e+01] [-2.51648091e-01 9.66764738e-01 -4.51572781e-02 -1.80382100e+01] [-1.61941421e-01 3.93954637e-03 9.86792509e-01 -1.34264540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.13, Y:-18.05, Z:-13.43 [[ 9.54018914e-01 2.56340944e-01 1.55361619e-01 8.71337663e+01] [-2.52373308e-01 9.66578937e-01 -4.50873794e-02 -1.80497534e+01] [-1.61727010e-01 3.80508709e-03 9.86828200e-01 -1.34327697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.16, Y:-18.06, Z:-13.44 [[ 9.53731884e-01 2.57637396e-01 1.54978917e-01 8.71608413e+01] [-2.53705750e-01 9.66235041e-01 -4.49804194e-02 -1.80634384e+01] [-1.61334698e-01 3.58021781e-03 9.86893255e-01 -1.34381006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:-18.08, Z:-13.44 [[ 9.53516862e-01 2.58276724e-01 1.55237646e-01 8.71901664e+01] [-2.54339937e-01 9.66064710e-01 -4.50574343e-02 -1.80753332e+01] [-1.61606898e-01 3.47989030e-03 9.86849077e-01 -1.34427954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:-18.09, Z:-13.45 [[ 9.53364453e-01 2.59060551e-01 1.54867203e-01 8.72182974e+01] [-2.55152269e-01 9.65855298e-01 -4.49540103e-02 -1.80865872e+01] [-1.61225119e-01 3.34283726e-03 9.86911995e-01 -1.34478629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-18.10, Z:-13.45 [[ 9.52986780e-01 2.60525691e-01 1.54733838e-01 8.72460625e+01] [-2.56642988e-01 9.65461956e-01 -4.49175728e-02 -1.80972183e+01] [-1.61091816e-01 3.09449851e-03 9.86934573e-01 -1.34530958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:-18.11, Z:-13.46 [[ 9.51888039e-01 2.64593257e-01 1.54594856e-01 8.72731556e+01] [-2.60771454e-01 9.64357116e-01 -4.48731780e-02 -1.81105677e+01] [-1.60957790e-01 2.40031596e-03 9.86958372e-01 -1.34585390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:87.30, Y:-18.12, Z:-13.46 [[ 9.51228732e-01 2.67078862e-01 1.54378696e-01 8.72992903e+01] [-2.63300260e-01 9.63672648e-01 -4.48107298e-02 -1.81201650e+01] [-1.60738525e-01 1.97730305e-03 9.86995044e-01 -1.34640862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:87.33, Y:-18.13, Z:-13.47 [[ 9.50394143e-01 2.70072290e-01 1.54311148e-01 8.73263837e+01] [-2.66337125e-01 9.62838934e-01 -4.47853078e-02 -1.81295555e+01] [-1.60672052e-01 1.46490667e-03 9.87006761e-01 -1.34689180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:-18.14, Z:-13.47 [[ 9.48442138e-01 2.76454546e-01 1.55017403e-01 8.73532131e+01] [-2.72770640e-01 9.61026920e-01 -4.49826367e-02 -1.81396342e+01] [-1.61411552e-01 3.79231856e-04 9.86887110e-01 -1.34734430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:-18.15, Z:-13.48 [[ 9.47418679e-01 2.79855848e-01 1.55172653e-01 8.73793360e+01] [-2.76211955e-01 9.60042009e-01 -4.50144059e-02 -1.81485984e+01] [-1.61569810e-01 -2.13052849e-04 9.86861262e-01 -1.34778200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:-18.16, Z:-13.48 [[ 9.46296022e-01 2.83408622e-01 1.55574395e-01 8.74054702e+01] [-2.79795044e-01 9.58998885e-01 -4.51206349e-02 -1.81574654e+01] [-1.61983248e-01 -8.31467448e-04 9.86793158e-01 -1.34830993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:-18.17, Z:-13.49 [[ 9.44531366e-01 2.89287761e-01 1.55476975e-01 8.74307497e+01] [-2.85759616e-01 9.57240395e-01 -4.50806933e-02 -1.81660914e+01] [-1.61870134e-01 -1.84891191e-03 9.86810337e-01 -1.34877196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:-18.17, Z:-13.49 [[ 9.43846899e-01 2.91514710e-01 1.55474132e-01 8.74576270e+01] [-2.88018939e-01 9.56563714e-01 -4.50660900e-02 -1.81738090e+01] [-1.61858341e-01 -2.24400516e-03 9.86811452e-01 -1.34925516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:-18.18, Z:-13.50 [[ 9.43293513e-01 2.93251459e-01 1.55566479e-01 8.74833123e+01] [-2.89776817e-01 9.56031933e-01 -4.50814822e-02 -1.81802765e+01] [-1.61946732e-01 -2.55448945e-03 9.86796195e-01 -1.34970485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:-18.19, Z:-13.50 [[ 9.42798827e-01 2.94889141e-01 1.55469505e-01 8.75101352e+01] [-2.91444348e-01 9.55527210e-01 -4.50326834e-02 -1.81868034e+01] [-1.61834991e-01 -2.85394729e-03 9.86813706e-01 -1.35013299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:-18.19, Z:-13.51 [[ 9.41983416e-01 2.97621347e-01 1.55205601e-01 8.75361583e+01] [-2.94226978e-01 9.54678194e-01 -4.49447476e-02 -1.81935313e+01] [-1.61547919e-01 -3.32846806e-03 9.86859256e-01 -1.35064674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:-18.20, Z:-13.51 [[ 9.41675344e-01 2.98598651e-01 1.55197915e-01 8.75628210e+01] [-2.95220009e-01 9.54372324e-01 -4.49289869e-02 -1.82014724e+01] [-1.61532330e-01 -3.50901066e-03 9.86861182e-01 -1.35116121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:-18.21, Z:-13.52 [[ 9.41463434e-01 2.99236834e-01 1.55254371e-01 8.75898014e+01] [-2.95866216e-01 9.54171962e-01 -4.49338337e-02 -1.82086608e+01] [-1.61585226e-01 -3.63096184e-03 9.86852082e-01 -1.35167953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:-18.22, Z:-13.52 [[ 9.41287777e-01 2.99798009e-01 1.55236836e-01 8.76167157e+01] [-2.96437604e-01 9.53995378e-01 -4.49173136e-02 -1.82152563e+01] [-1.61561345e-01 -3.73791726e-03 9.86855592e-01 -1.35213452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:-18.22, Z:-13.53 [[ 9.41338333e-01 2.99637750e-01 1.55239689e-01 8.76437190e+01] [-2.96276807e-01 9.54045793e-01 -4.49074504e-02 -1.82228624e+01] [-1.61561739e-01 -3.72081482e-03 9.86855592e-01 -1.35261505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:-18.23, Z:-13.53 [[ 9.41231505e-01 2.99800613e-01 1.55572638e-01 8.76705412e+01] [-2.96432221e-01 9.53994372e-01 -4.49741844e-02 -1.82277570e+01] [-1.61898709e-01 -3.78562335e-03 9.86800120e-01 -1.35307495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:-18.23, Z:-13.54 [[ 9.41383672e-01 2.99290868e-01 1.55633410e-01 8.76965304e+01] [-2.95914899e-01 9.54154706e-01 -4.49796502e-02 -1.82341796e+01] [-1.61960349e-01 -3.71113633e-03 9.86790288e-01 -1.35353516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:-18.24, Z:-13.54 [[ 9.41620412e-01 2.98432151e-01 1.55850090e-01 8.77236813e+01] [-2.95037377e-01 9.54424129e-01 -4.50280745e-02 -1.82412975e+01] [-1.62184912e-01 -3.58224772e-03 9.86753881e-01 -1.35402334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:-18.25, Z:-13.54 [[ 9.42317356e-01 2.96019312e-01 1.56238813e-01 8.77490983e+01] [-2.92576532e-01 9.55176639e-01 -4.51282736e-02 -1.82476262e+01] [-1.62594505e-01 -3.18665460e-03 9.86687829e-01 -1.35446818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:-18.25, Z:-13.55 [[ 9.42672445e-01 2.94592334e-01 1.56792916e-01 8.77755255e+01] [-2.91107709e-01 9.55618420e-01 -4.52740191e-02 -1.82542918e+01] [-1.63171578e-01 -2.96505638e-03 9.86593252e-01 -1.35489706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:-18.26, Z:-13.55 [[ 9.43039395e-01 2.93211999e-01 1.57173228e-01 8.78018093e+01] [-2.89693327e-01 9.56043508e-01 -4.53716474e-02 -1.82602879e+01] [-1.63567955e-01 -2.74478429e-03 9.86528251e-01 -1.35540022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.83, Y:-18.27, Z:-13.56 [[ 9.43915110e-01 2.90813634e-01 1.56370376e-01 8.78294882e+01] [-2.87300675e-01 9.56776880e-01 -4.51256392e-02 -1.82652143e+01] [-1.62734712e-01 -2.33054191e-03 9.86667108e-01 -1.35598661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:-18.27, Z:-13.56 [[ 9.44360701e-01 2.89653803e-01 1.55831772e-01 8.78557124e+01] [-2.86150834e-01 9.57129110e-01 -4.49618444e-02 -1.82718175e+01] [-1.62174494e-01 -2.13119259e-03 9.86759794e-01 -1.35644233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:-18.28, Z:-13.57 [[ 9.44820331e-01 2.88404012e-01 1.55363019e-01 8.78818551e+01] [-2.84907131e-01 9.57506886e-01 -4.48161859e-02 -1.82787788e+01] [-1.61686328e-01 -1.92078838e-03 9.86840332e-01 -1.35695960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:-18.29, Z:-13.57 [[ 9.45251274e-01 2.87233942e-01 1.54908654e-01 8.79090494e+01] [-2.83743893e-01 9.57858905e-01 -4.46735087e-02 -1.82857335e+01] [-1.61212382e-01 -1.72669356e-03 9.86918227e-01 -1.35741604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:-18.29, Z:-13.58 [[ 9.46060443e-01 2.84660767e-01 1.54718732e-01 8.79355968e+01] [-2.81147029e-01 9.58627437e-01 -4.46069983e-02 -1.82912677e+01] [-1.61015484e-01 -1.29779522e-03 9.86951027e-01 -1.35791010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:-18.30, Z:-13.58 [[ 9.46552172e-01 2.82929009e-01 1.54887577e-01 8.79625930e+01] [-2.79386413e-01 9.59140315e-01 -4.46440110e-02 -1.82975461e+01] [-1.61190005e-01 -1.01559903e-03 9.86922870e-01 -1.35834829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:-18.30, Z:-13.59 [[ 9.47058583e-01 2.81192657e-01 1.54953960e-01 8.79896991e+01] [-2.77625909e-01 9.59651058e-01 -4.46508787e-02 -1.83043440e+01] [-1.61257231e-01 -7.32236133e-04 9.86912139e-01 -1.35880639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:-18.31, Z:-13.59 [[ 9.48191539e-01 2.77092705e-01 1.55410549e-01 8.80161051e+01] [-2.73451645e-01 9.60843188e-01 -4.47723893e-02 -1.83114187e+01] [-1.61731270e-01 -4.44696282e-05 9.86834836e-01 -1.35930356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:-18.32, Z:-13.60 [[ 9.48809335e-01 2.74843804e-01 1.55633315e-01 8.80428105e+01] [-2.71164110e-01 9.61488833e-01 -4.48246559e-02 -1.83192315e+01] [-1.61959473e-01 3.27882706e-04 9.86797356e-01 -1.35980228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:-18.33, Z:-13.60 [[ 9.49301774e-01 2.73023920e-01 1.55833501e-01 8.80703228e+01] [-2.69311943e-01 9.62007039e-01 -4.48724275e-02 -1.83275622e+01] [-1.62164171e-01 6.29652118e-04 9.86763591e-01 -1.36032565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:-18.33, Z:-13.61 [[ 9.49768703e-01 2.71244891e-01 1.56094906e-01 8.80967527e+01] [-2.67497800e-01 9.62509922e-01 -4.49397145e-02 -1.83349130e+01] [-1.62432563e-01 9.27290625e-04 9.86719212e-01 -1.36077525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:-18.34, Z:-13.61 [[ 9.50121771e-01 2.69820090e-01 1.56415279e-01 8.81243876e+01] [-2.66039977e-01 9.62910050e-01 -4.50218289e-02 -1.83424564e+01] [-1.62761638e-01 1.16350244e-03 9.86664733e-01 -1.36123699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:-18.35, Z:-13.62 [[ 9.50507731e-01 2.68523200e-01 1.56302091e-01 8.81513303e+01] [-2.64732493e-01 9.63272233e-01 -4.49812338e-02 -1.83486313e+01] [-1.62639969e-01 1.37676831e-03 9.86684521e-01 -1.36169519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:-18.36, Z:-13.62 [[ 9.50627622e-01 2.68263719e-01 1.56018271e-01 8.81778189e+01] [-2.64485046e-01 9.63344483e-01 -4.48895046e-02 -1.83562679e+01] [-1.62341566e-01 1.40870348e-03 9.86733617e-01 -1.36221165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:-18.36, Z:-13.63 [[ 9.50629886e-01 2.68154272e-01 1.56192531e-01 8.82050498e+01] [-2.64367297e-01 9.63374939e-01 -4.49294950e-02 -1.83635838e+01] [-1.62520006e-01 1.41912331e-03 9.86704228e-01 -1.36269374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:-18.37, Z:-13.63 [[ 9.50651025e-01 2.68054750e-01 1.56234694e-01 8.82311645e+01] [-2.64265338e-01 9.63402618e-01 -4.49358194e-02 -1.83702906e+01] [-1.62562173e-01 1.43086847e-03 9.86697265e-01 -1.36314714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02587156000001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:88.26, Y:-18.38, Z:-13.64 [[ 9.50866027e-01 2.67436898e-01 1.55984946e-01 8.82599668e+01] [-2.63653111e-01 9.63574171e-01 -4.48536976e-02 -1.83780873e+01] [-1.62298599e-01 1.52394087e-03 9.86740514e-01 -1.36373572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:-18.39, Z:-13.64 [[ 9.50934233e-01 2.67028706e-01 1.56268214e-01 8.82876788e+01] [-2.63225576e-01 9.63687253e-01 -4.49352301e-02 -1.83859269e+01] [-1.62592682e-01 1.59665785e-03 9.86691984e-01 -1.36413299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:-18.39, Z:-13.65 [[ 9.51131750e-01 2.66094056e-01 1.56659972e-01 8.83159169e+01] [-2.62259432e-01 9.63945465e-01 -4.50458740e-02 -1.83941654e+01] [-1.62998109e-01 1.75900565e-03 9.86624813e-01 -1.36463271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:-18.40, Z:-13.65 [[ 9.51353785e-01 2.65575074e-01 1.56191729e-01 8.83431663e+01] [-2.61757206e-01 9.64088430e-01 -4.49072916e-02 -1.84018454e+01] [-1.62508896e-01 1.83841112e-03 9.86705366e-01 -1.36516977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:-18.41, Z:-13.66 [[ 9.51584469e-01 2.65049820e-01 1.55677843e-01 8.83714699e+01] [-2.61251227e-01 9.64232816e-01 -4.47534733e-02 -1.84100875e+01] [-1.61971585e-01 1.91568273e-03 9.86793563e-01 -1.36570412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:-18.42, Z:-13.66 [[ 9.51701500e-01 2.64794512e-01 1.55396655e-01 8.83989045e+01] [-2.61007001e-01 9.64302887e-01 -4.46686444e-02 -1.84194197e+01] [-1.61677455e-01 1.95160089e-03 9.86841726e-01 -1.36622054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:-18.43, Z:-13.67 [[ 9.51786028e-01 2.64481905e-01 1.55411322e-01 8.84260493e+01] [-2.60690215e-01 9.64388572e-01 -4.46687083e-02 -1.84290367e+01] [-1.61690968e-01 2.00084168e-03 9.86839413e-01 -1.36674482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:-18.44, Z:-13.67 [[ 9.51983913e-01 2.63984142e-01 1.55045160e-01 8.84536534e+01] [-2.60204180e-01 9.64524781e-01 -4.45615559e-02 -1.84391398e+01] [-1.61308443e-01 2.07848560e-03 9.86901852e-01 -1.36721808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.48, Y:-18.45, Z:-13.68 [[ 9.52055598e-01 2.63721247e-01 1.55052383e-01 8.84801881e+01] [-2.59938114e-01 9.64596606e-01 -4.45596694e-02 -1.84474756e+01] [-1.61314334e-01 2.11925877e-03 9.86900803e-01 -1.36776197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:-18.46, Z:-13.68 [[ 9.51922159e-01 2.63003349e-01 1.57077817e-01 8.85065366e+01] [-2.60329233e-01 9.64782127e-01 -3.77377594e-02 -1.84614240e+01] [-1.61471028e-01 -4.96853829e-03 9.86864946e-01 -1.36785332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.54, Y:-18.46, Z:-13.69 [[ 9.51747115e-01 2.65388931e-01 1.54097839e-01 8.85376217e+01] [-2.60543773e-01 9.64103220e-01 -5.12047280e-02 -1.84633278e+01] [-1.62155390e-01 8.58471986e-03 9.86727892e-01 -1.36858218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:-18.48, Z:-13.69 [[ 9.51461651e-01 2.65259935e-01 1.56070154e-01 8.85636897e+01] [-2.61449857e-01 9.64175153e-01 -4.48357684e-02 -1.84766663e+01] [-1.62372098e-01 1.85499478e-03 9.86727856e-01 -1.36911153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:-18.49, Z:-13.70 [[ 9.51084883e-01 2.66439933e-01 1.56356348e-01 8.85914750e+01] [-2.62631918e-01 9.63850104e-01 -4.49160564e-02 -1.84864122e+01] [-1.62671514e-01 1.65481469e-03 9.86678894e-01 -1.36959976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:-18.50, Z:-13.70 [[ 9.50176891e-01 2.69598743e-01 1.56462117e-01 8.86177982e+01] [-2.65828692e-01 9.62972109e-01 -4.49424471e-02 -1.84968727e+01] [-1.62785082e-01 1.11115473e-03 9.86660926e-01 -1.37007057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:-18.51, Z:-13.71 [[ 9.49669577e-01 2.71725390e-01 1.55862144e-01 8.86450665e+01] [-2.68013525e-01 9.62374545e-01 -4.47658884e-02 -1.85053644e+01] [-1.62161788e-01 7.39639742e-04 9.86763907e-01 -1.37053724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:-18.51, Z:-13.71 [[ 9.49184587e-01 2.73622801e-01 1.55496566e-01 8.86724172e+01] [-2.69955014e-01 9.61836991e-01 -4.46530277e-02 -1.85140761e+01] [-1.61780435e-01 4.06888079e-04 9.86826695e-01 -1.37112107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:-18.52, Z:-13.72 [[ 9.48680063e-01 2.75585014e-01 1.55109761e-01 8.86988999e+01] [-2.71962900e-01 9.61276701e-01 -4.45340925e-02 -1.85230700e+01] [-1.61376328e-01 6.45053765e-05 9.86892941e-01 -1.37164302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.72, Y:-18.53, Z:-13.72 [[ 9.47720098e-01 2.78901688e-01 1.55049876e-01 8.87249085e+01] [-2.75327699e-01 9.60319526e-01 -4.45091783e-02 -1.85313687e+01] [-1.61311109e-01 -5.07282818e-04 9.86903475e-01 -1.37213251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.75, Y:-18.54, Z:-13.73 [[ 9.47300492e-01 2.80359294e-01 1.54985303e-01 8.87514339e+01] [-2.76809341e-01 9.59894828e-01 -4.44804198e-02 -1.85395073e+01] [-1.61240090e-01 -7.65056074e-04 9.86914914e-01 -1.37253920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:-18.55, Z:-13.73 [[ 9.46887081e-01 2.81585865e-01 1.55287655e-01 8.87778027e+01] [-2.78040251e-01 9.59535526e-01 -4.45554998e-02 -1.85480246e+01] [-1.61550221e-01 -9.87191453e-04 9.86863999e-01 -1.37300332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:-18.56, Z:-13.74 [[ 9.46399942e-01 2.83119500e-01 1.55468645e-01 8.88037664e+01] [-2.79588030e-01 9.59083811e-01 -4.45957055e-02 -1.85580507e+01] [-1.61733374e-01 -1.26179889e-03 9.86833686e-01 -1.37350737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.83, Y:-18.57, Z:-13.74 [[ 9.46285181e-01 2.83686176e-01 1.55133843e-01 8.88298827e+01] [-2.80179117e-01 9.58916206e-01 -4.44901318e-02 -1.85660210e+01] [-1.61381592e-01 -1.36491088e-03 9.86891138e-01 -1.37402068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.86, Y:-18.57, Z:-13.75 [[ 9.46124713e-01 2.84334656e-01 1.54925242e-01 8.88560294e+01] [-2.80847584e-01 9.58723943e-01 -4.44188594e-02 -1.85746394e+01] [-1.61160360e-01 -1.48459946e-03 9.86927117e-01 -1.37452922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:-18.58, Z:-13.75 [[ 9.45641485e-01 2.86041607e-01 1.54733257e-01 8.88827471e+01] [-2.82587806e-01 9.58215537e-01 -4.43521965e-02 -1.85841337e+01] [-1.60954385e-01 -1.78445476e-03 9.86960233e-01 -1.37489741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:-18.59, Z:-13.75 [[ 9.45291416e-01 2.87142282e-01 1.54833618e-01 8.89092605e+01] [-2.83699959e-01 9.57885894e-01 -4.43728303e-02 -1.85915295e+01] [-1.61054255e-01 -1.98103563e-03 9.86943566e-01 -1.37535967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:-18.60, Z:-13.76 [[ 9.44864673e-01 2.88622147e-01 1.54686798e-01 8.89365686e+01] [-2.85207758e-01 9.57440460e-01 -4.43204349e-02 -1.85990913e+01] [-1.60895258e-01 -2.24106164e-03 9.86968943e-01 -1.37580242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:-18.61, Z:-13.76 [[ 9.44410809e-01 2.90254235e-01 1.54404349e-01 8.89637376e+01] [-2.86875338e-01 9.56946246e-01 -4.42314615e-02 -1.86071694e+01] [-1.60595031e-01 -2.52212944e-03 9.87017160e-01 -1.37627656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:-18.62, Z:-13.77 [[ 9.43258332e-01 2.94069677e-01 1.54229520e-01 8.89901642e+01] [-2.90750405e-01 9.55778709e-01 -4.41730886e-02 -1.86151942e+01] [-1.60399257e-01 -3.17566140e-03 9.87047108e-01 -1.37678945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:-18.62, Z:-13.77 [[ 9.42746911e-01 2.95802685e-01 1.54042310e-01 8.90163432e+01] [-2.92516130e-01 9.55242738e-01 -4.41092374e-02 -1.86220553e+01] [-1.60195429e-01 -3.47601307e-03 9.87079197e-01 -1.37725680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:-18.63, Z:-13.78 [[ 9.41907591e-01 2.98467340e-01 1.54036801e-01 8.90439606e+01] [-2.95218662e-01 9.54411705e-01 -4.40935180e-02 -1.86270927e+01] [-1.60175001e-01 -3.94251906e-03 9.87080759e-01 -1.37779211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-18.63, Z:-13.78 [[ 9.41723660e-01 2.99209999e-01 1.53720281e-01 8.90707799e+01] [-2.95986594e-01 9.54178595e-01 -4.39902775e-02 -1.86335869e+01] [-1.59838932e-01 -4.07245713e-03 9.87134708e-01 -1.37826573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.10, Y:-18.64, Z:-13.79 [[ 9.41811168e-01 2.99168572e-01 1.53264115e-01 8.90969322e+01] [-2.95965460e-01 9.54191626e-01 -4.38495981e-02 -1.86400049e+01] [-1.59361756e-01 -4.06284310e-03 9.87211894e-01 -1.37874288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:-18.65, Z:-13.79 [[ 9.42383753e-01 2.97632756e-01 1.52733767e-01 8.91234411e+01] [-2.94434095e-01 9.54672865e-01 -4.36839149e-02 -1.86459143e+01] [-1.58812547e-01 -3.80301679e-03 9.87301429e-01 -1.37925133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:-18.65, Z:-13.80 [[ 9.42830387e-01 2.96167648e-01 1.52825344e-01 8.91496869e+01] [-2.92947904e-01 9.55129301e-01 -4.36983339e-02 -1.86524667e+01] [-1.58909997e-01 -3.56974732e-03 9.87286620e-01 -1.37970893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:89.18, Y:-18.66, Z:-13.80 [[ 9.43486441e-01 2.94125631e-01 1.52720168e-01 8.91767325e+01] [-2.90885990e-01 9.55761286e-01 -4.36543739e-02 -1.86590860e+01] [-1.58803895e-01 -3.23684760e-03 9.87304839e-01 -1.38028596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:-18.67, Z:-13.81 [[ 9.44003795e-01 2.92552122e-01 1.52545372e-01 8.92033488e+01] [-2.89301466e-01 9.56244934e-01 -4.35922928e-02 -1.86664843e+01] [-1.58623757e-01 -2.98030989e-03 9.87334605e-01 -1.38066879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:-18.67, Z:-13.81 [[ 9.45162173e-01 2.88544543e-01 1.53004944e-01 8.92301501e+01] [-2.85223928e-01 9.57463647e-01 -4.37112833e-02 -1.86735672e+01] [-1.59109323e-01 -2.32641952e-03 9.87258229e-01 -1.38111744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:-18.68, Z:-13.82 [[ 9.45693953e-01 2.86497290e-01 1.53565129e-01 8.92561274e+01] [-2.83126925e-01 9.58078967e-01 -4.38615653e-02 -1.86802480e+01] [-1.59693740e-01 -1.99880578e-03 9.87164583e-01 -1.38153332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:-18.69, Z:-13.82 [[ 9.46879934e-01 2.82391636e-01 1.53861480e-01 8.92836088e+01] [-2.78957161e-01 9.59298288e-01 -4.39283156e-02 -1.86850672e+01] [-1.60004043e-01 -1.32592108e-03 9.87115468e-01 -1.38204494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:-18.69, Z:-13.83 [[ 9.47500888e-01 2.80337351e-01 1.53795440e-01 8.93115206e+01] [-2.76880884e-01 9.59901031e-01 -4.38974550e-02 -1.86918464e+01] [-1.59934498e-01 -9.90139773e-04 9.87127133e-01 -1.38251694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:-18.70, Z:-13.83 [[ 9.48163885e-01 2.78052146e-01 1.53857892e-01 8.93387108e+01] [-2.74564231e-01 9.60565786e-01 -4.39073351e-02 -1.86987447e+01] [-1.59999156e-01 -6.12524512e-04 9.87116961e-01 -1.38297255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-18.71, Z:-13.83 [[ 9.48173925e-01 2.78016705e-01 1.53860068e-01 8.93665270e+01] [-2.74529564e-01 9.60576043e-01 -4.38997100e-02 -1.87066014e+01] [-1.59999148e-01 -6.14576895e-04 9.87116961e-01 -1.38346775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.39, Y:-18.71, Z:-13.84 [[ 9.48897626e-01 2.75400042e-01 1.54104224e-01 8.93926305e+01] [-2.71868400e-01 9.61329696e-01 -4.39634872e-02 -1.87137496e+01] [-1.60252513e-01 -1.79220002e-04 9.87076036e-01 -1.38404829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:89.42, Y:-18.72, Z:-13.85 [[ 9.49755235e-01 2.72619050e-01 1.53765558e-01 8.94201990e+01] [-2.69068419e-01 9.62122017e-01 -4.38567030e-02 -1.87219771e+01] [-1.59897402e-01 2.79677682e-04 9.87133599e-01 -1.38458198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:-18.73, Z:-13.85 [[ 9.51431409e-01 2.67063549e-01 1.53151347e-01 8.94468717e+01] [-2.63471099e-01 9.63678171e-01 -4.36733562e-02 -1.87301104e+01] [-1.59252171e-01 1.20124916e-03 9.87237207e-01 -1.38504637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:-18.74, Z:-13.86 [[ 9.52335338e-01 2.64063628e-01 1.52734421e-01 8.94742847e+01] [-2.60453138e-01 9.64503774e-01 -4.35503546e-02 -1.87386892e+01] [-1.58812991e-01 1.69438226e-03 9.87307228e-01 -1.38554604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:-18.75, Z:-13.86 [[ 9.53193927e-01 2.61159791e-01 1.52370934e-01 8.95033912e+01] [-2.57530728e-01 9.65293152e-01 -4.34402565e-02 -1.87480296e+01] [-1.58427467e-01 2.16679128e-03 9.87368241e-01 -1.38607518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:-18.76, Z:-13.87 [[ 9.54505240e-01 2.56261391e-01 1.52479002e-01 8.95326972e+01] [-2.52564495e-01 9.66602911e-01 -4.34740026e-02 -1.87593941e+01] [-1.58527355e-01 2.98538119e-03 9.87350072e-01 -1.38657833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46587156000001 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:89.56, Y:-18.77, Z:-13.87 [[ 9.54917043e-01 2.54394367e-01 1.53025969e-01 8.95636750e+01] [-2.50643816e-01 9.67094847e-01 -4.36489964e-02 -1.87698342e+01] [-1.59094685e-01 3.32615793e-03 9.87257726e-01 -1.38727969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:-18.78, Z:-13.88 [[ 9.55474348e-01 2.52628503e-01 1.52471667e-01 8.95935528e+01] [-2.48877720e-01 9.67556510e-01 -4.35233389e-02 -1.87816931e+01] [-1.58520190e-01 3.63863322e-03 9.87349031e-01 -1.38762881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.62, Y:-18.79, Z:-13.88 [[ 9.55534949e-01 2.52327179e-01 1.52590810e-01 8.96236634e+01] [-2.48561719e-01 9.67634819e-01 -4.35881780e-02 -1.87916156e+01] [-1.58650663e-01 3.72179354e-03 9.87327765e-01 -1.38820445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.65, Y:-18.80, Z:-13.89 [[ 9.55335504e-01 2.52819106e-01 1.53024749e-01 8.96531958e+01] [-2.49035060e-01 9.67506603e-01 -4.37322715e-02 -1.88016171e+01] [-1.59108809e-01 3.67046402e-03 9.87254230e-01 -1.38871810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:89.68, Y:-18.81, Z:-13.89 [[ 9.54778861e-01 2.55070179e-01 1.52762988e-01 8.96826469e+01] [-2.51324696e-01 9.66916883e-01 -4.36765146e-02 -1.88141407e+01] [-1.58849689e-01 3.30830112e-03 9.87297236e-01 -1.38926013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:-18.83, Z:-13.90 [[ 9.54336881e-01 2.56844267e-01 1.52552091e-01 8.97139702e+01] [-2.53126768e-01 9.66448027e-01 -4.36468911e-02 -1.88252831e+01] [-1.58644121e-01 3.03882008e-03 9.87331154e-01 -1.38971697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:-18.84, Z:-13.90 [[ 9.53877842e-01 2.58655422e-01 1.52362840e-01 8.97451856e+01] [-2.54965120e-01 9.65965697e-01 -4.36240657e-02 -1.88353826e+01] [-1.58460878e-01 2.76481980e-03 9.87361386e-01 -1.39025943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:-18.85, Z:-13.91 [[ 9.52995229e-01 2.61919759e-01 1.52309337e-01 8.97750176e+01] [-2.58268276e-01 9.65087024e-01 -4.36409641e-02 -1.88462682e+01] [-1.58422195e-01 2.25296073e-03 9.87368894e-01 -1.39084093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:89.81, Y:-18.86, Z:-13.92 [[ 9.52612725e-01 2.63492731e-01 1.51988739e-01 8.98050953e+01] [-2.59873555e-01 9.64659296e-01 -4.35680746e-02 -1.88562528e+01] [-1.58097221e-01 2.00564825e-03 9.87421514e-01 -1.39151486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-18.87, Z:-13.92 [[ 9.52263112e-01 2.65093662e-01 1.51394571e-01 8.98354222e+01] [-2.61518736e-01 9.64221062e-01 -4.34245872e-02 -1.88669390e+01] [-1.57489417e-01 1.75911559e-03 9.87519108e-01 -1.39195986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-18.88, Z:-13.92 [[ 9.52016603e-01 2.66276890e-01 1.50867507e-01 8.98645398e+01] [-2.62737186e-01 9.63895276e-01 -4.33020559e-02 -1.88767161e+01] [-1.56950814e-01 1.58577175e-03 9.87605147e-01 -1.39248285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:-18.89, Z:-13.93 [[ 9.51804886e-01 2.67070460e-01 1.50800624e-01 8.98925150e+01] [-2.63543261e-01 9.63675902e-01 -4.32863127e-02 -1.88862017e+01] [-1.56883423e-01 1.45763558e-03 9.87616052e-01 -1.39295234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:-18.90, Z:-13.94 [[ 9.51380069e-01 2.68313266e-01 1.51274438e-01 8.99214871e+01] [-2.64777825e-01 9.63330882e-01 -4.34317281e-02 -1.88967752e+01] [-1.57380647e-01 1.26596368e-03 9.87537204e-01 -1.39354731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.95, Y:-18.91, Z:-13.94 [[ 9.51226208e-01 2.68717923e-01 1.51523528e-01 8.99511407e+01] [-2.65175473e-01 9.63218163e-01 -4.35056184e-02 -1.89060623e+01] [-1.57640953e-01 1.20336129e-03 9.87495763e-01 -1.39411187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.98, Y:-18.92, Z:-13.95 [[ 9.50835208e-01 2.69736645e-01 1.52166189e-01 8.99807277e+01] [-2.66172557e-01 9.62933543e-01 -4.37168371e-02 -1.89164372e+01] [-1.58317960e-01 1.06504433e-03 9.87387608e-01 -1.39463123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:-18.93, Z:-13.95 [[ 9.50542212e-01 2.70405037e-01 1.52809092e-01 9.00093546e+01] [-2.66818495e-01 9.62746172e-01 -4.39055798e-02 -1.89257789e+01] [-1.58988658e-01 9.61814952e-04 9.87279941e-01 -1.39509682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:90.04, Y:-18.93, Z:-13.96 [[ 9.50257611e-01 2.71241039e-01 1.53097260e-01 9.00388290e+01] [-2.67651347e-01 9.62511100e-01 -4.39902105e-02 -1.89348360e+01] [-1.59289762e-01 8.25344609e-04 9.87231528e-01 -1.39566970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:-18.95, Z:-13.96 [[ 9.49927731e-01 2.72553295e-01 1.52813633e-01 9.00701637e+01] [-2.68993496e-01 9.62140496e-01 -4.39108829e-02 -1.89454632e+01] [-1.58996241e-01 6.06292022e-04 9.87279002e-01 -1.39612745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-18.96, Z:-13.97 [[ 9.49401133e-01 2.74693601e-01 1.52252800e-01 9.01005784e+01] [-2.71182289e-01 9.61531772e-01 -4.37814812e-02 -1.89560345e+01] [-1.58422397e-01 2.77925153e-04 9.87371393e-01 -1.39677288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-18.96, Z:-13.97 [[ 9.49305824e-01 2.75418210e-01 1.51536336e-01 9.01308192e+01] [-2.71944054e-01 9.61324489e-01 -4.36079992e-02 -1.89648331e+01] [-1.57686028e-01 1.87922190e-04 9.87489282e-01 -1.39724593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.16, Y:-18.97, Z:-13.98 [[ 9.49156030e-01 2.75954661e-01 1.51498698e-01 9.01602778e+01] [-2.72485670e-01 9.61170646e-01 -4.36182144e-02 -1.89732175e+01] [-1.57652751e-01 1.19266928e-04 9.87494605e-01 -1.39787793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-18.98, Z:-13.98 [[ 9.48984174e-01 2.76500191e-01 1.51580613e-01 9.01894930e+01] [-2.73033710e-01 9.61013862e-01 -4.36457298e-02 -1.89824170e+01] [-1.57739123e-01 3.24895861e-05 9.87480819e-01 -1.39833008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-18.99, Z:-13.99 [[ 9.48744075e-01 2.77036445e-01 1.52103547e-01 9.02185879e+01] [-2.73552056e-01 9.60859410e-01 -4.38003111e-02 -1.89933033e+01] [-1.58284407e-01 -5.29523849e-05 9.87393561e-01 -1.39878087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-19.00, Z:-13.99 [[ 9.48568327e-01 2.77288196e-01 1.52739600e-01 9.02480076e+01] [-2.73777230e-01 9.60786786e-01 -4.39861361e-02 -1.90029610e+01] [-1.58947026e-01 -9.27691366e-05 9.87287108e-01 -1.39935531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-19.01, Z:-14.00 [[ 9.48395928e-01 2.77569211e-01 1.53298718e-01 9.02765454e+01] [-2.74031544e-01 9.60705637e-01 -4.41745744e-02 -1.90118329e+01] [-1.59536444e-01 -1.13697803e-04 9.87192033e-01 -1.39982435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-19.02, Z:-14.00 [[ 9.47920566e-01 2.78673906e-01 1.54231819e-01 9.03058656e+01] [-2.75106972e-01 9.60385737e-01 -4.44453551e-02 -1.90208707e+01] [-1.60507800e-01 -2.99582613e-04 9.87034526e-01 -1.40028000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:-19.03, Z:-14.01 [[ 9.47650276e-01 2.79590403e-01 1.54234109e-01 9.03361545e+01] [-2.76034974e-01 9.60119264e-01 -4.44487510e-02 -1.90298399e+01] [-1.60510584e-01 -4.52137084e-04 9.87034016e-01 -1.40082793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-19.04, Z:-14.01 [[ 9.47482349e-01 2.80407857e-01 1.53781116e-01 9.03656219e+01] [-2.76879491e-01 9.59880784e-01 -4.43466869e-02 -1.90389301e+01] [-1.60046697e-01 -5.61133955e-04 9.87109285e-01 -1.40139421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-19.05, Z:-14.02 [[ 9.47257132e-01 2.81497160e-01 1.53177264e-01 9.03935419e+01] [-2.78006296e-01 9.59561794e-01 -4.42002488e-02 -1.90473494e+01] [-1.59425295e-01 -7.15242944e-04 9.87209736e-01 -1.40193463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-19.06, Z:-14.02 [[ 9.47131620e-01 2.82001872e-01 1.53024962e-01 9.04215242e+01] [-2.78524830e-01 9.59413520e-01 -4.41544613e-02 -1.90553709e+01] [-1.59265859e-01 -8.01165185e-04 9.87235405e-01 -1.40245650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-19.06, Z:-14.03 [[ 9.46991013e-01 2.82557303e-01 1.52870510e-01 9.04499374e+01] [-2.79095137e-01 9.59250001e-01 -4.41060030e-02 -1.90633791e+01] [-1.59103510e-01 -8.97427339e-04 9.87261499e-01 -1.40294611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-19.07, Z:-14.03 [[ 9.46933578e-01 2.83106548e-01 1.52208677e-01 9.04786978e+01] [-2.79682154e-01 9.59087954e-01 -4.39111452e-02 -1.90699075e+01] [-1.58413041e-01 -9.89112714e-04 9.87372437e-01 -1.40343308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-19.08, Z:-14.04 [[ 9.46822843e-01 2.83461598e-01 1.52236743e-01 9.05068121e+01] [-2.80041124e-01 9.58983011e-01 -4.39153021e-02 -1.90776007e+01] [-1.58440752e-01 -1.05253749e-03 9.87367925e-01 -1.40392290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-19.08, Z:-14.04 [[ 9.46862114e-01 2.83513404e-01 1.51895646e-01 9.05340802e+01] [-2.80109625e-01 9.58967685e-01 -4.38129812e-02 -1.90849815e+01] [-1.58084583e-01 -1.06258037e-03 9.87425002e-01 -1.40443988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-19.09, Z:-14.05 [[ 9.46911969e-01 2.83294793e-01 1.51992706e-01 9.05620027e+01] [-2.79884514e-01 9.59032324e-01 -4.38367553e-02 -1.90923743e+01] [-1.58184642e-01 -1.03085619e-03 9.87409012e-01 -1.40494074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:-19.10, Z:-14.05 [[ 9.46906131e-01 2.83071060e-01 1.52445249e-01 9.05898709e+01] [-2.79638080e-01 9.59098418e-01 -4.39632792e-02 -1.90997279e+01] [-1.58654729e-01 -1.00039803e-03 9.87333620e-01 -1.40540048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.62, Y:-19.11, Z:-14.06 [[ 9.46897060e-01 2.82861823e-01 1.52889327e-01 9.06184133e+01] [-2.79406629e-01 9.59160176e-01 -4.40873240e-02 -1.91069393e+01] [-1.59115975e-01 -9.72134013e-04 9.87259420e-01 -1.40602330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-19.11, Z:-14.06 [[ 9.47059839e-01 2.82479858e-01 1.52586993e-01 9.06468523e+01] [-2.79034180e-01 9.59272798e-01 -4.39957431e-02 -1.91139698e+01] [-1.58800463e-01 -9.10384930e-04 9.87310278e-01 -1.40643344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-19.12, Z:-14.07 [[ 9.47325201e-01 2.81710778e-01 1.52361414e-01 9.06750462e+01] [-2.78265037e-01 9.59499053e-01 -4.39333174e-02 -1.91215754e+01] [-1.58567122e-01 -7.77715739e-04 9.87347894e-01 -1.40697721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63587156000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:90.70, Y:-19.13, Z:-14.08 [[ 9.47668802e-01 2.80724761e-01 1.52044237e-01 9.07032003e+01] [-2.77281450e-01 9.59788117e-01 -4.38379710e-02 -1.91291307e+01] [-1.58236656e-01 -6.15168916e-04 9.87401024e-01 -1.40762687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66587156 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:90.73, Y:-19.14, Z:-14.08 [[ 9.48427214e-01 2.78267305e-01 1.51832563e-01 9.07329798e+01] [-2.74803042e-01 9.60503651e-01 -4.37724234e-02 -1.91368801e+01] [-1.58016165e-01 -2.09092530e-04 9.87436503e-01 -1.40817504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:90.76, Y:-19.15, Z:-14.09 [[ 9.48841136e-01 2.76703833e-01 1.52103543e-01 9.07630272e+01] [-2.73206500e-01 9.60955246e-01 -4.38545652e-02 -1.91452662e+01] [-1.58299424e-01 5.53388080e-05 9.87391153e-01 -1.40867676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:90.79, Y:-19.15, Z:-14.09 [[ 9.49265245e-01 2.75060813e-01 1.52437017e-01 9.07914107e+01] [-2.71526304e-01 9.61426772e-01 -4.39548460e-02 -1.91533652e+01] [-1.58647285e-01 3.34147859e-04 9.87335266e-01 -1.40917930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:-19.16, Z:-14.10 [[ 9.50143542e-01 2.72009564e-01 1.52440306e-01 9.08209729e+01] [-2.68435548e-01 9.62294177e-01 -4.39576450e-02 -1.91628494e+01] [-1.58649318e-01 8.45675509e-04 9.87334634e-01 -1.40958326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:-19.17, Z:-14.10 [[ 9.50438128e-01 2.70866240e-01 1.52639591e-01 9.08513311e+01] [-2.67267760e-01 9.62616433e-01 -4.40175753e-02 -1.91724586e+01] [-1.58856254e-01 1.04034037e-03 9.87301174e-01 -1.41015857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-19.18, Z:-14.11 [[ 9.50764222e-01 2.69749189e-01 1.52586923e-01 9.08813384e+01] [-2.66134526e-01 9.62929803e-01 -4.40296406e-02 -1.91817119e+01] [-1.58807456e-01 1.25315846e-03 9.87308777e-01 -1.41066509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-19.19, Z:-14.11 [[ 9.51174108e-01 2.68492314e-01 1.52248787e-01 9.09121459e+01] [-2.64873428e-01 9.63280680e-01 -4.39590514e-02 -1.91923330e+01] [-1.58460982e-01 1.48605347e-03 9.87364122e-01 -1.41118116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:-19.20, Z:-14.12 [[ 9.51175761e-01 2.68274673e-01 1.52621662e-01 9.09417574e+01] [-2.64629897e-01 9.63341203e-01 -4.40992629e-02 -1.92019682e+01] [-1.58857451e-01 1.55789526e-03 9.87300300e-01 -1.41174169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-19.21, Z:-14.12 [[ 9.51094363e-01 2.67981966e-01 1.53639768e-01 9.09721220e+01] [-2.64279340e-01 9.63422520e-01 -4.44238583e-02 -1.92131967e+01] [-1.59924805e-01 1.64746487e-03 9.87127825e-01 -1.41220744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93587156000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:91.00, Y:-19.22, Z:-14.13 [[ 9.51000950e-01 2.68050861e-01 1.54097142e-01 9.10020838e+01] [-2.64321532e-01 9.63403310e-01 -4.45891331e-02 -1.92233045e+01] [-1.60409852e-01 1.67311533e-03 9.87049077e-01 -1.41282654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-19.23, Z:-14.13 [[ 9.50958562e-01 2.68084140e-01 1.54300704e-01 9.10330040e+01] [-2.64340348e-01 9.63394003e-01 -4.46785768e-02 -1.92342555e+01] [-1.60629990e-01 1.69957342e-03 9.87013231e-01 -1.41324141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99587156000001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:91.06, Y:-19.24, Z:-14.14 [[ 9.50775225e-01 2.68412677e-01 1.54858340e-01 9.10635425e+01] [-2.64640730e-01 9.63302553e-01 -4.48717701e-02 -1.92446581e+01] [-1.61219586e-01 1.68114329e-03 9.86917129e-01 -1.41392938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:-19.26, Z:-14.14 [[ 9.50520646e-01 2.69315816e-01 1.54853132e-01 9.10941901e+01] [-2.65550787e-01 9.63050653e-01 -4.49023307e-02 -1.92568702e+01] [-1.61224318e-01 1.55922127e-03 9.86916556e-01 -1.41431638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:-19.27, Z:-14.15 [[ 9.50291735e-01 2.70402018e-01 1.54364398e-01 9.11246518e+01] [-2.66669829e-01 9.62746479e-01 -4.47930777e-02 -1.92671717e+01] [-1.60725919e-01 1.40216396e-03 9.86998081e-01 -1.41487734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:-19.28, Z:-14.15 [[ 9.49971471e-01 2.71746906e-01 1.53973448e-01 9.11558321e+01] [-2.68046012e-01 9.62368002e-01 -4.47120112e-02 -1.92775582e+01] [-1.60329470e-01 1.20316623e-03 9.87062821e-01 -1.41548533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:91.19, Y:-19.29, Z:-14.16 [[ 9.49594319e-01 2.73459099e-01 1.53266927e-01 9.11859366e+01] [-2.69809277e-01 9.61883171e-01 -4.45389553e-02 -1.92873814e+01] [-1.59604460e-01 9.41100252e-04 9.87180597e-01 -1.41616964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:-19.30, Z:-14.17 [[ 9.48675283e-01 2.76991577e-01 1.52613479e-01 9.12157377e+01] [-2.73413584e-01 9.60872274e-01 -4.43788898e-02 -1.92990447e+01] [-1.58934639e-01 3.74557684e-04 9.87289036e-01 -1.41660322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:-19.31, Z:-14.17 [[ 9.48658999e-01 2.77051892e-01 1.52605217e-01 9.12466413e+01] [-2.73470107e-01 9.60854877e-01 -4.44072803e-02 -1.93081181e+01] [-1.58934588e-01 3.94400976e-04 9.87289036e-01 -1.41715463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:-19.32, Z:-14.18 [[ 9.48034181e-01 2.79126517e-01 1.52707497e-01 9.12773452e+01] [-2.75565257e-01 9.60254333e-01 -4.44455251e-02 -1.93175814e+01] [-1.59043961e-01 5.49961896e-05 9.87271500e-01 -1.41768488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.31, Y:-19.32, Z:-14.18 [[ 9.46836647e-01 2.83289967e-01 1.52470186e-01 9.13064440e+01] [-2.79787973e-01 9.59034109e-01 -4.44102213e-02 -1.93249590e+01] [-1.58805079e-01 -6.10099328e-04 9.87309766e-01 -1.41829680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:-19.33, Z:-14.19 [[ 9.46369071e-01 2.85074535e-01 1.52046347e-01 9.13345172e+01] [-2.81614597e-01 9.58504925e-01 -4.42891316e-02 -1.93334237e+01] [-1.58362876e-01 -9.04606412e-04 9.87380566e-01 -1.41870992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:91.36, Y:-19.34, Z:-14.19 [[ 9.45875466e-01 2.86945147e-01 1.51598437e-01 9.13620916e+01] [-2.83530167e-01 9.57946240e-01 -4.41547822e-02 -1.93412878e+01] [-1.57893153e-01 -1.21780512e-03 9.87455452e-01 -1.41930434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:-19.35, Z:-14.20 [[ 9.45073044e-01 2.89729090e-01 1.51307618e-01 9.13898806e+01] [-2.86363316e-01 9.57107215e-01 -4.40661999e-02 -1.93483758e+01] [-1.57584873e-01 -1.68317352e-03 9.87504013e-01 -1.41974193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:-19.36, Z:-14.20 [[ 9.44675376e-01 2.90958648e-01 1.51431500e-01 9.14192388e+01] [-2.87603774e-01 9.56733754e-01 -4.40975383e-02 -1.93569263e+01] [-1.57710187e-01 -1.89441229e-03 9.87483624e-01 -1.42024223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:-19.37, Z:-14.21 [[ 9.44337382e-01 2.91782827e-01 1.51952925e-01 9.14472223e+01] [-2.88414589e-01 9.56482431e-01 -4.42536420e-02 -1.93658407e+01] [-1.58252756e-01 -2.03507205e-03 9.87396538e-01 -1.42078219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.47, Y:-19.37, Z:-14.21 [[ 9.44145870e-01 2.92294970e-01 1.52158555e-01 9.14749735e+01] [-2.88923771e-01 9.56325860e-01 -4.43159700e-02 -1.93745580e+01] [-1.58466496e-01 -2.12148349e-03 9.87362076e-01 -1.42133022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:-19.38, Z:-14.22 [[ 9.43965466e-01 2.92647019e-01 1.52600527e-01 9.15051983e+01] [-2.89261384e-01 9.56218030e-01 -4.44402025e-02 -1.93829987e+01] [-1.58924668e-01 -2.19142306e-03 9.87288280e-01 -1.42177638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:-19.39, Z:-14.22 [[ 9.43918378e-01 2.92560504e-01 1.53057005e-01 9.15336230e+01] [-2.89152645e-01 9.56244530e-01 -4.45774203e-02 -1.93906955e+01] [-1.59401516e-01 -2.17939154e-03 9.87211430e-01 -1.42226356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:-19.40, Z:-14.23 [[ 9.44003783e-01 2.92044690e-01 1.53514678e-01 9.15616470e+01] [-2.88609134e-01 9.56402376e-01 -4.47131233e-02 -1.93980952e+01] [-1.59880033e-01 -2.09638073e-03 9.87134226e-01 -1.42274956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:-19.41, Z:-14.23 [[ 9.44637519e-01 2.89872640e-01 1.53732922e-01 9.15897774e+01] [-2.86399339e-01 9.57063656e-01 -4.47725013e-02 -1.94055525e+01] [-1.60110515e-01 -1.73522267e-03 9.87097570e-01 -1.42325999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:-19.41, Z:-14.24 [[ 9.45107889e-01 2.88494090e-01 1.53434803e-01 9.16172515e+01] [-2.85016545e-01 9.57480501e-01 -4.46840013e-02 -1.94135602e+01] [-1.59801903e-01 -1.50025536e-03 9.87147963e-01 -1.42380030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:-19.42, Z:-14.24 [[ 9.45571848e-01 2.87176525e-01 1.53047455e-01 9.16478040e+01] [-2.83701075e-01 9.57876816e-01 -4.45612472e-02 -1.94229553e+01] [-1.59397553e-01 -1.28386660e-03 9.87213640e-01 -1.42438470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:91.68, Y:-19.43, Z:-14.25 [[ 9.46273023e-01 2.84890949e-01 1.52985335e-01 9.16783461e+01] [-2.81384015e-01 9.58559539e-01 -4.45718173e-02 -1.94315657e+01] [-1.59343659e-01 -8.70519337e-04 9.87222792e-01 -1.42508735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-19.44, Z:-14.25 [[ 9.46598609e-01 2.83717371e-01 1.53151971e-01 9.17085113e+01] [-2.80182476e-01 9.58907732e-01 -4.46513275e-02 -1.94410573e+01] [-1.59526967e-01 -6.43613888e-04 9.87193361e-01 -1.42548882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:-19.45, Z:-14.26 [[ 9.47118245e-01 2.82011690e-01 1.53089638e-01 9.17384505e+01] [-2.78452989e-01 9.59410912e-01 -4.46613286e-02 -1.94507419e+01] [-1.59470886e-01 -3.28708220e-04 9.87202577e-01 -1.42606395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:-19.46, Z:-14.27 [[ 9.48201634e-01 2.78310584e-01 1.53156391e-01 9.17692544e+01] [-2.74695870e-01 9.60491080e-01 -4.47109001e-02 -1.94618453e+01] [-1.59548864e-01 3.23520560e-04 9.87189979e-01 -1.42653982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:91.80, Y:-19.47, Z:-14.27 [[ 9.48595847e-01 2.76632642e-01 1.53754027e-01 9.17994360e+01] [-2.72962296e-01 9.60975531e-01 -4.49178490e-02 -1.94714350e+01] [-1.60179601e-01 6.39832875e-04 9.87087679e-01 -1.42723268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.83, Y:-19.48, Z:-14.28 [[ 9.49553386e-01 2.73008384e-01 1.54320409e-01 9.18302961e+01] [-2.69258261e-01 9.62010795e-01 -4.51134029e-02 -1.94832270e+01] [-1.60774236e-01 1.28553955e-03 9.86990371e-01 -1.42776722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:-19.49, Z:-14.28 [[ 9.49999411e-01 2.71321609e-01 1.54550002e-01 9.18603145e+01] [-2.67532836e-01 9.62487408e-01 -4.52125230e-02 -1.94943712e+01] [-1.61019565e-01 1.60467000e-03 9.86949910e-01 -1.42820396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:-19.51, Z:-14.29 [[ 9.50273614e-01 2.70279195e-01 1.54690712e-01 9.18911120e+01] [-2.66464919e-01 9.62780283e-01 -4.52832529e-02 -1.95058091e+01] [-1.61172289e-01 1.81183236e-03 9.86924623e-01 -1.42875824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.92, Y:-19.52, Z:-14.29 [[ 9.50459102e-01 2.69668707e-01 1.54616572e-01 9.19212142e+01] [-2.65844875e-01 9.62951194e-01 -4.52934799e-02 -1.95166574e+01] [-1.61102446e-01 1.94557707e-03 9.86935771e-01 -1.42940195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:-19.53, Z:-14.30 [[ 9.50667403e-01 2.69136084e-01 1.54263597e-01 9.19514480e+01] [-2.65317355e-01 9.63099947e-01 -4.52238094e-02 -1.95295692e+01] [-1.60742621e-01 2.06399187e-03 9.86994199e-01 -1.42982619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:-19.54, Z:-14.30 [[ 9.50497786e-01 2.69861892e-01 1.54040635e-01 9.19816193e+01] [-2.66061556e-01 9.62897061e-01 -4.51718678e-02 -1.95401907e+01] [-1.60515440e-01 1.95146953e-03 9.87031400e-01 -1.43037703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:-19.55, Z:-14.31 [[ 9.50278982e-01 2.70837100e-01 1.53678632e-01 9.20129387e+01] [-2.67062476e-01 9.62623489e-01 -4.50960285e-02 -1.95508223e+01] [-1.60148338e-01 1.81201216e-03 9.87091296e-01 -1.43091314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:-19.56, Z:-14.31 [[ 9.49548382e-01 2.73615682e-01 1.53272076e-01 9.20419011e+01] [-2.69891859e-01 9.61838125e-01 -4.50089595e-02 -1.95633292e+01] [-1.59738083e-01 1.37129918e-03 9.87158480e-01 -1.43149046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:-19.58, Z:-14.32 [[ 9.49053675e-01 2.75399570e-01 1.53141108e-01 9.20723279e+01] [-2.71700407e-01 9.61329220e-01 -4.50002211e-02 -1.95751736e+01] [-1.59612064e-01 1.09912374e-03 9.87179204e-01 -1.43207094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:-19.59, Z:-14.33 [[ 9.47924817e-01 2.79240505e-01 1.53177287e-01 9.21023567e+01] [-2.75584050e-01 9.60221071e-01 -4.50435982e-02 -1.95886814e+01] [-1.59662056e-01 4.84727405e-04 9.87171613e-01 -1.43262197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-19.60, Z:-14.33 [[ 9.47290548e-01 2.81422336e-01 1.53108090e-01 9.21322615e+01] [-2.77792223e-01 9.59583997e-01 -4.50558995e-02 -1.95984229e+01] [-1.59599809e-01 1.48791006e-04 9.87181786e-01 -1.43312956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:-19.61, Z:-14.34 [[ 9.46564773e-01 2.83902830e-01 1.53017362e-01 9.21626949e+01] [-2.80304314e-01 9.58853026e-01 -4.50595761e-02 -1.96082816e+01] [-1.59513702e-01 -2.39619315e-04 9.87195686e-01 -1.43366537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:-19.62, Z:-14.34 [[ 9.44933295e-01 2.88962614e-01 1.53628368e-01 9.21921106e+01] [-2.85396482e-01 9.57339787e-01 -4.52700833e-02 -1.96193067e+01] [-1.60155911e-01 -1.06778677e-03 9.87091153e-01 -1.43419169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:-19.63, Z:-14.35 [[ 9.44113816e-01 2.91699834e-01 1.53493680e-01 9.22215216e+01] [-2.88171037e-01 9.56508731e-01 -4.52603719e-02 -1.96287835e+01] [-1.60020488e-01 -1.50149058e-03 9.87112551e-01 -1.43467459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:-19.64, Z:-14.35 [[ 9.43290577e-01 2.94531419e-01 1.53147417e-01 9.22527050e+01] [-2.91051617e-01 9.55639801e-01 -4.51832565e-02 -1.96376678e+01] [-1.59661656e-01 -1.95286342e-03 9.87169865e-01 -1.43522838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:-19.65, Z:-14.36 [[ 9.41884141e-01 2.99512741e-01 1.52139352e-01 9.22821763e+01] [-2.96137997e-01 9.54088349e-01 -4.49189134e-02 -1.96455285e+01] [-1.58608170e-01 -2.74583083e-03 9.87337789e-01 -1.43581054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.31, Y:-19.65, Z:-14.36 [[ 9.41291085e-01 3.01652664e-01 1.51580883e-01 9.23110718e+01] [-2.98327714e-01 9.53412917e-01 -4.47703470e-02 -1.96548381e+01] [-1.58024266e-01 -3.07884979e-03 9.87430429e-01 -1.43645777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:-19.66, Z:-14.37 [[ 9.40941270e-01 3.02926468e-01 1.51212040e-01 9.23405192e+01] [-2.99633418e-01 9.53008286e-01 -4.46656541e-02 -1.96633783e+01] [-1.57636736e-01 -3.28042296e-03 9.87491721e-01 -1.43686563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:-19.67, Z:-14.37 [[ 9.40408566e-01 3.04660607e-01 1.51041859e-01 9.23718700e+01] [-3.01397534e-01 9.52454292e-01 -4.46133292e-02 -1.96708690e+01] [-1.57452391e-01 -3.56888680e-03 9.87520130e-01 -1.43743182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:-19.68, Z:-14.38 [[ 9.40333839e-01 3.04918737e-01 1.50986207e-01 9.24003172e+01] [-3.01656522e-01 9.52371639e-01 -4.46274019e-02 -1.96784819e+01] [-1.57402712e-01 -3.58131780e-03 9.87528005e-01 -1.43797330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:-19.69, Z:-14.38 [[ 9.40609940e-01 3.04504977e-01 1.50098831e-01 9.24295353e+01] [-3.01733320e-01 9.52490024e-01 -4.14699654e-02 -1.96880187e+01] [-1.55595450e-01 -6.28275675e-03 9.87800882e-01 -1.43828233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:-19.69, Z:-14.39 [[ 9.40400832e-01 3.04400887e-01 1.51612585e-01 9.24592897e+01] [-3.00674399e-01 9.52543568e-01 -4.74937574e-02 -1.96916538e+01] [-1.58874735e-01 -9.22853991e-04 9.87298317e-01 -1.43897614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:-19.70, Z:-14.39 [[ 9.40635054e-01 3.03149944e-01 1.52662393e-01 9.24863585e+01] [-2.99786207e-01 9.52937183e-01 -4.51547898e-02 -1.97004443e+01] [-1.59166343e-01 -3.29190172e-03 9.87246291e-01 -1.43944111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-19.71, Z:-14.40 [[ 9.40918422e-01 3.02030540e-01 1.53134174e-01 9.25148721e+01] [-2.98632459e-01 9.53293143e-01 -4.52861762e-02 -1.97082577e+01] [-1.59659566e-01 -3.12023736e-03 9.87167203e-01 -1.43992431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:-19.72, Z:-14.40 [[ 9.41668224e-01 2.99574640e-01 1.53349244e-01 9.25446812e+01] [-2.96135310e-01 9.54069013e-01 -4.53453093e-02 -1.97164087e+01] [-1.59890067e-01 -2.71188906e-03 9.87131102e-01 -1.44044750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:-19.73, Z:-14.41 [[ 9.42149090e-01 2.98096765e-01 1.53275602e-01 9.25742190e+01] [-2.94640862e-01 9.54532494e-01 -4.53263790e-02 -1.97253514e+01] [-1.59818190e-01 -2.45704891e-03 9.87143409e-01 -1.44102981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:-19.73, Z:-14.42 [[ 9.42705823e-01 2.96405089e-01 1.53133124e-01 9.26046426e+01] [-2.92929211e-01 9.55059910e-01 -4.53105373e-02 -1.97341142e+01] [-1.59681582e-01 -2.14265787e-03 9.87166248e-01 -1.44155910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:-19.74, Z:-14.42 [[ 9.43333756e-01 2.94443413e-01 1.53050652e-01 9.26341595e+01] [-2.90940989e-01 9.55667255e-01 -4.53148824e-02 -1.97427929e+01] [-1.59608166e-01 -1.78164992e-03 9.87178839e-01 -1.44210462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:-19.75, Z:-14.43 [[ 9.44798491e-01 2.89940105e-01 1.52612408e-01 9.26653557e+01] [-2.86395188e-01 9.57044279e-01 -4.52111165e-02 -1.97533627e+01] [-1.59165347e-01 -9.92064478e-04 9.87251441e-01 -1.44271077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:-19.76, Z:-14.43 [[ 9.45454043e-01 2.87790504e-01 1.52621359e-01 9.26960853e+01] [-2.84212127e-01 9.57693201e-01 -4.52459944e-02 -1.97637632e+01] [-1.59185805e-01 -5.98832619e-04 9.87248460e-01 -1.44326910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:-19.78, Z:-14.44 [[ 9.47056552e-01 2.83048546e-01 1.51550020e-01 9.27257368e+01] [-2.79643023e-01 9.59105149e-01 -4.37846244e-02 -1.97756888e+01] [-1.57745579e-01 -9.13390228e-04 9.87479366e-01 -1.44356320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:-19.79, Z:-14.44 [[ 9.47468919e-01 2.81303818e-01 1.52219612e-01 9.27560336e+01] [-2.77492441e-01 9.59617572e-01 -4.61742341e-02 -1.97853378e+01] [-1.59061603e-01 1.50885988e-03 9.87267507e-01 -1.44433715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.79, Y:-19.80, Z:-14.45 [[ 9.48039849e-01 2.79467635e-01 1.52046988e-01 9.27868211e+01] [-2.75794734e-01 9.60154702e-01 -4.51687052e-02 -1.97971299e+01] [-1.58611822e-01 8.87973659e-04 9.87340621e-01 -1.44497673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:-19.81, Z:-14.45 [[ 9.48771751e-01 2.77211068e-01 1.51611965e-01 9.28166499e+01] [-2.73525672e-01 9.60808178e-01 -4.50705234e-02 -1.98102081e+01] [-1.58164064e-01 1.29187474e-03 9.87412001e-01 -1.44544467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:-19.82, Z:-14.46 [[ 9.48826836e-01 2.77016602e-01 1.51622681e-01 9.28465252e+01] [-2.73323028e-01 9.60864175e-01 -4.51060828e-02 -1.98209897e+01] [-1.58183936e-01 1.35589155e-03 9.87408732e-01 -1.44597457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:92.88, Y:-19.83, Z:-14.47 [[ 9.48567555e-01 2.77752779e-01 1.51897951e-01 9.28766011e+01] [-2.74050266e-01 9.60651755e-01 -4.52178843e-02 -1.98318345e+01] [-1.58480426e-01 1.26454419e-03 9.87361309e-01 -1.44662876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.91, Y:-19.84, Z:-14.47 [[ 9.47804563e-01 2.79764826e-01 1.52964550e-01 9.29059401e+01] [-2.76030525e-01 9.60068075e-01 -4.55679854e-02 -1.98437779e+01] [-1.59604700e-01 9.66659526e-04 9.87180533e-01 -1.44707418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:-19.85, Z:-14.48 [[ 9.47247546e-01 2.81458824e-01 1.53306940e-01 9.29362355e+01] [-2.77724802e-01 9.59573042e-01 -4.57002335e-02 -1.98545698e+01] [-1.59971941e-01 7.12294464e-04 9.87121305e-01 -1.44753038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91587156000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:92.97, Y:-19.87, Z:-14.48 [[ 9.46578824e-01 2.83639996e-01 1.53417350e-01 9.29668074e+01] [-2.79924172e-01 9.58930766e-01 -4.57629130e-02 -1.98650679e+01] [-1.60096809e-01 3.72979700e-04 9.87101247e-01 -1.44814932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:-19.88, Z:-14.49 [[ 9.45070240e-01 2.88415597e-01 1.53813800e-01 9.29977278e+01] [-2.84737980e-01 9.57505237e-01 -4.59130045e-02 -1.98767060e+01] [-1.60519546e-01 -4.05616688e-04 9.87032578e-01 -1.44856160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:93.03, Y:-19.89, Z:-14.49 [[ 9.44083507e-01 2.91411915e-01 1.54225253e-01 9.30285808e+01] [-2.87748984e-01 9.56597256e-01 -4.60674766e-02 -1.98866369e+01] [-1.60956065e-01 -8.86614964e-04 9.86961174e-01 -1.44918179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:-19.90, Z:-14.50 [[ 9.43076913e-01 2.94408772e-01 1.54691343e-01 9.30591961e+01] [-2.90758012e-01 9.55678607e-01 -4.62404450e-02 -1.98960345e+01] [-1.61448799e-01 -1.36945112e-03 9.86880140e-01 -1.44960494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:-19.91, Z:-14.50 [[ 9.41087568e-01 3.00396631e-01 1.55293441e-01 9.30891679e+01] [-2.96792819e-01 9.53811421e-01 -4.64520902e-02 -1.99050637e+01] [-1.62074709e-01 -2.37449338e-03 9.86775633e-01 -1.45013723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:-19.91, Z:-14.51 [[ 9.40220841e-01 3.03201303e-01 1.55092680e-01 9.31177768e+01] [-2.99639964e-01 9.52922339e-01 -4.64209916e-02 -1.99135275e+01] [-1.61866184e-01 -2.82598115e-03 9.86808671e-01 -1.45066380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:-19.92, Z:-14.51 [[ 9.40210357e-01 3.03234070e-01 1.55092179e-01 9.31478248e+01] [-2.99672898e-01 9.52911901e-01 -4.64226643e-02 -1.99225750e+01] [-1.61866117e-01 -2.82985300e-03 9.86808671e-01 -1.45120130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:-19.93, Z:-14.52 [[ 9.39371007e-01 3.05866677e-01 1.55008667e-01 9.31772424e+01] [-3.02343932e-01 9.52068719e-01 -4.64036681e-02 -1.99306336e+01] [-1.61772239e-01 -3.27566935e-03 9.86822686e-01 -1.45169615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:-19.94, Z:-14.52 [[ 9.38141264e-01 3.09996935e-01 1.54249373e-01 9.32055380e+01] [-3.06563452e-01 9.50729295e-01 -4.61806952e-02 -1.99366105e+01] [-1.60965272e-01 -3.96320457e-03 9.86952113e-01 -1.45221872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:-19.94, Z:-14.53 [[ 9.37592057e-01 3.11797779e-01 1.53958697e-01 9.32335074e+01] [-3.08402024e-01 9.50138901e-01 -4.60897030e-02 -1.99438221e+01] [-1.60652814e-01 -4.26783447e-03 9.87001752e-01 -1.45272192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:-19.95, Z:-14.53 [[ 9.36629823e-01 3.14726094e-01 1.53857273e-01 9.32619887e+01] [-3.11374618e-01 9.49170549e-01 -4.60555808e-02 -1.99492099e+01] [-1.60531686e-01 -4.77021930e-03 9.87019160e-01 -1.45321407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:-19.96, Z:-14.54 [[ 9.36294915e-01 3.15906731e-01 1.53475628e-01 9.32916991e+01] [-3.12589026e-01 9.48777243e-01 -4.59330398e-02 -1.99560888e+01] [-1.60124740e-01 -4.96792552e-03 9.87084286e-01 -1.45374723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:-19.96, Z:-14.54 [[ 9.36045491e-01 3.16788795e-01 1.53178648e-01 9.33197675e+01] [-3.13495641e-01 9.48482348e-01 -4.58444985e-02 -1.99623284e+01] [-1.59810267e-01 -5.10830238e-03 9.87134532e-01 -1.45427582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.35, Y:-19.97, Z:-14.55 [[ 9.35709388e-01 3.17582630e-01 1.53587807e-01 9.33483464e+01] [-3.14283394e-01 9.48215989e-01 -4.59607141e-02 -1.99682586e+01] [-1.60230739e-01 -5.26422553e-03 9.87065549e-01 -1.45493885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:-19.97, Z:-14.55 [[ 9.35756178e-01 3.17552664e-01 1.53364538e-01 9.33758741e+01] [-3.14263303e-01 9.48226075e-01 -4.58899393e-02 -1.99748700e+01] [-1.59996727e-01 -5.25505219e-03 9.87103557e-01 -1.45532738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:-19.98, Z:-14.56 [[ 9.35932396e-01 3.17245357e-01 1.52924599e-01 9.34038156e+01] [-3.13971818e-01 9.48329277e-01 -4.57523779e-02 -1.99803356e+01] [-1.59537603e-01 -5.19288153e-03 9.87178194e-01 -1.45578804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:-19.98, Z:-14.56 [[ 9.36165924e-01 3.16448425e-01 1.53146193e-01 9.34318879e+01] [-3.13156052e-01 9.48596156e-01 -4.58107047e-02 -1.99833238e+01] [-1.59770616e-01 -5.07223647e-03 9.87141136e-01 -1.45623048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:-19.99, Z:-14.57 [[ 9.36362899e-01 3.15770263e-01 1.53341653e-01 9.34597839e+01] [-3.12462060e-01 9.48822645e-01 -4.58590062e-02 -1.99889966e+01] [-1.59974943e-01 -4.97277667e-03 9.87108550e-01 -1.45674881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:-19.99, Z:-14.57 [[ 9.36638238e-01 3.15008059e-01 1.53227723e-01 9.34864919e+01] [-3.11695974e-01 9.49076621e-01 -4.58168811e-02 -1.99941845e+01] [-1.59857536e-01 -4.84662141e-03 9.87128198e-01 -1.45717740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:-20.00, Z:-14.58 [[ 9.36936408e-01 3.14002189e-01 1.53469191e-01 9.35139610e+01] [-3.10667844e-01 9.49410664e-01 -4.58790002e-02 -1.99993558e+01] [-1.60111393e-01 -4.69223691e-03 9.87087800e-01 -1.45766571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:-20.00, Z:-14.58 [[ 9.37676849e-01 3.11673366e-01 1.53693980e-01 9.35413089e+01] [-3.08300084e-01 9.50179517e-01 -4.59341139e-02 -2.00023679e+01] [-1.60353312e-01 -4.31251194e-03 9.87050261e-01 -1.45811591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:-20.01, Z:-14.59 [[ 9.38186679e-01 3.10198344e-01 1.53566734e-01 9.35688185e+01] [-3.06812672e-01 9.50663164e-01 -4.58860916e-02 -2.00078729e+01] [-1.60224027e-01 -4.06650025e-03 9.87072300e-01 -1.45861244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:-20.01, Z:-14.59 [[ 9.38735237e-01 3.08625770e-01 1.53382817e-01 9.35958994e+01] [-3.05228677e-01 9.51175949e-01 -4.58232247e-02 -2.00134816e+01] [-1.60036275e-01 -3.80095865e-03 9.87103816e-01 -1.45909875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:-20.02, Z:-14.59 [[ 9.39567898e-01 3.05952150e-01 1.53640639e-01 9.36233910e+01] [-3.02509675e-01 9.52040959e-01 -4.58901949e-02 -2.00165811e+01] [-1.60312385e-01 -3.36082586e-03 9.87060608e-01 -1.45949617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:-20.02, Z:-14.60 [[ 9.39935057e-01 3.04660858e-01 1.53960545e-01 9.36510312e+01] [-3.01188368e-01 9.52455666e-01 -4.59757724e-02 -2.00214733e+01] [-1.60647612e-01 -3.15688510e-03 9.87006777e-01 -1.45997497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:-20.02, Z:-14.60 [[ 9.40845344e-01 3.01614958e-01 1.54397075e-01 9.36791093e+01] [-2.98083478e-01 9.53426124e-01 -4.60962604e-02 -2.00239906e+01] [-1.61109527e-01 -2.65376532e-03 9.86932965e-01 -1.46044077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.71, Y:-20.03, Z:-14.61 [[ 9.41429595e-01 2.99776657e-01 1.54415910e-01 9.37067491e+01] [-2.96221700e-01 9.54006514e-01 -4.60898661e-02 -2.00298069e+01] [-1.61130450e-01 -2.35097948e-03 9.86930317e-01 -1.46101733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:-20.04, Z:-14.61 [[ 9.42077341e-01 2.97758337e-01 1.54370516e-01 9.37333784e+01] [-2.94179844e-01 9.54639158e-01 -4.60684010e-02 -2.00355722e+01] [-1.61085390e-01 -2.01269777e-03 9.86938421e-01 -1.46142423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:-20.04, Z:-14.62 [[ 9.42715233e-01 2.95744697e-01 1.54347216e-01 9.37616707e+01] [-2.92142328e-01 9.55265541e-01 -4.60500396e-02 -2.00409365e+01] [-1.61061632e-01 -1.67928112e-03 9.86942922e-01 -1.46188523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:-20.04, Z:-14.62 [[ 9.44024285e-01 2.91499169e-01 1.54422745e-01 9.37895748e+01] [-2.87838074e-01 9.56570597e-01 -4.60644716e-02 -2.00430494e+01] [-1.61144013e-01 -9.62765590e-04 9.86930433e-01 -1.46239194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:-20.05, Z:-14.63 [[ 9.44684742e-01 2.89262401e-01 1.54589787e-01 9.38163441e+01] [-2.85565451e-01 9.57249660e-01 -4.61027262e-02 -2.00491482e+01] [-1.61316806e-01 -5.92960313e-04 9.86902496e-01 -1.46286439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.84, Y:-20.05, Z:-14.63 [[ 9.45913289e-01 2.85212324e-01 1.54602654e-01 9.38434029e+01] [-2.81462608e-01 9.58464356e-01 -4.60963980e-02 -2.00530149e+01] [-1.61328394e-01 8.83291446e-05 9.86900776e-01 -1.46329517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:-20.06, Z:-14.64 [[ 9.46420553e-01 2.83605646e-01 1.54453794e-01 9.38715681e+01] [-2.79843592e-01 9.58940933e-01 -4.60418340e-02 -2.00585650e+01] [-1.61169789e-01 3.52033485e-04 9.86926631e-01 -1.46384068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:-20.07, Z:-14.64 [[ 9.46868658e-01 2.82300143e-01 1.54098583e-01 9.38993070e+01] [-2.78539601e-01 9.59325966e-01 -4.59279943e-02 -2.00651817e+01] [-1.60796252e-01 5.65220454e-04 9.86987460e-01 -1.46430497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:-20.07, Z:-14.65 [[ 9.47166795e-01 2.81324410e-01 1.54050764e-01 9.39264770e+01] [-2.77554711e-01 9.59612450e-01 -4.59056473e-02 -2.00720800e+01] [-1.60743410e-01 7.22789563e-04 9.86995964e-01 -1.46481785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.95, Y:-20.08, Z:-14.65 [[ 9.47332284e-01 2.80690652e-01 1.54189174e-01 9.39527072e+01] [-2.76906729e-01 9.59797935e-01 -4.59411231e-02 -2.00785728e+01] [-1.60885695e-01 8.25489214e-04 9.86972701e-01 -1.46527074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:-20.08, Z:-14.66 [[ 9.47508688e-01 2.80139829e-01 1.54106983e-01 9.39815698e+01] [-2.76354345e-01 9.59958775e-01 -4.59067075e-02 -2.00828824e+01] [-1.60796648e-01 9.08869769e-04 9.86987139e-01 -1.46575525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:-20.09, Z:-14.66 [[ 9.47670451e-01 2.79803232e-01 1.53723348e-01 9.40087507e+01] [-2.76033579e-01 9.60056893e-01 -4.57845573e-02 -2.00889705e+01] [-1.60393827e-01 9.55866235e-04 9.87052636e-01 -1.46622388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05587156 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:94.04, Y:-20.09, Z:-14.67 [[ 9.47942236e-01 2.79065952e-01 1.53387453e-01 9.40369040e+01] [-2.75304895e-01 9.60271343e-01 -4.56745236e-02 -2.00945443e+01] [-1.60039780e-01 1.06849339e-03 9.87109987e-01 -1.46673776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:-20.10, Z:-14.67 [[ 9.48037187e-01 2.78600002e-01 1.53647426e-01 9.40644348e+01] [-2.74821291e-01 9.60406547e-01 -4.57440976e-02 -2.01011514e+01] [-1.60308299e-01 1.14152185e-03 9.87066333e-01 -1.46717951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:-20.11, Z:-14.68 [[ 9.48214180e-01 2.77844363e-01 1.53923286e-01 9.40912099e+01] [-2.74043335e-01 9.60625271e-01 -4.58185444e-02 -2.01075068e+01] [-1.60593022e-01 1.26414305e-03 9.87019900e-01 -1.46766718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:-20.11, Z:-14.68 [[ 9.48328897e-01 2.77261807e-01 1.54266629e-01 9.41175213e+01] [-2.73437607e-01 9.60793448e-01 -4.59110575e-02 -2.01145257e+01] [-1.60947750e-01 1.35648468e-03 9.86961996e-01 -1.46810708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:-20.12, Z:-14.68 [[ 9.48430728e-01 2.76491454e-01 1.55021383e-01 9.41453111e+01] [-2.72620858e-01 9.61015229e-01 -4.61258945e-02 -2.01218959e+01] [-1.61731326e-01 1.48515329e-03 9.86833711e-01 -1.46849318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:-20.13, Z:-14.69 [[ 9.48485209e-01 2.76084740e-01 1.55412433e-01 9.41719244e+01] [-2.72190292e-01 9.61132046e-01 -4.62345590e-02 -2.01291364e+01] [-1.62136526e-01 1.55103986e-03 9.86767116e-01 -1.46899650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:-20.14, Z:-14.69 [[ 9.48502060e-01 2.75932000e-01 1.55580760e-01 9.41989298e+01] [-2.72028591e-01 9.61175878e-01 -4.62750232e-02 -2.01362413e+01] [-1.62309233e-01 1.56954004e-03 9.86738694e-01 -1.46942926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:-20.14, Z:-14.70 [[ 9.48465338e-01 2.75830709e-01 1.55983726e-01 9.42254665e+01] [-2.71907118e-01 9.61204930e-01 -4.63853608e-02 -2.01437826e+01] [-1.62726833e-01 1.58182166e-03 9.86669892e-01 -1.46992287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:-20.15, Z:-14.70 [[ 9.48626949e-01 2.75839709e-01 1.54981828e-01 9.42536087e+01] [-2.71968728e-01 9.61202385e-01 -4.60758644e-02 -2.01524605e+01] [-1.61678455e-01 1.55859608e-03 9.86842261e-01 -1.47046929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:-20.16, Z:-14.71 [[ 9.48692746e-01 2.75931250e-01 1.54415083e-01 9.42795007e+01] [-2.72090527e-01 9.61176151e-01 -4.59037265e-02 -2.01602298e+01] [-1.61086368e-01 1.53365098e-03 9.86939122e-01 -1.47094454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:-20.17, Z:-14.71 [[ 9.48721917e-01 2.75994155e-01 1.54123168e-01 9.43071142e+01] [-2.72170723e-01 9.61158129e-01 -4.58055468e-02 -2.01682178e+01] [-1.60778799e-01 1.50891214e-03 9.86989311e-01 -1.47149575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:-20.18, Z:-14.72 [[ 9.48925193e-01 2.75539048e-01 1.53685426e-01 9.43341625e+01] [-2.71732810e-01 9.61288592e-01 -4.56675352e-02 -2.01771854e+01] [-1.60319236e-01 1.57370208e-03 9.87063963e-01 -1.47198973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:-20.19, Z:-14.72 [[ 9.49046289e-01 2.74993575e-01 1.53914507e-01 9.43605779e+01] [-2.71170038e-01 9.61444629e-01 -4.57278421e-02 -2.01859464e+01] [-1.60555139e-01 1.66083626e-03 9.87025475e-01 -1.47246736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:-20.19, Z:-14.73 [[ 9.49254551e-01 2.74302507e-01 1.53863358e-01 9.43872089e+01] [-2.70474356e-01 9.61641833e-01 -4.57012841e-02 -2.01949764e+01] [-1.60497418e-01 1.76605940e-03 9.87034680e-01 -1.47287889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:-20.21, Z:-14.73 [[ 9.49689946e-01 2.72936965e-01 1.53604750e-01 9.44128380e+01] [-2.69105241e-01 9.62029869e-01 -4.56168903e-02 -2.02050212e+01] [-1.60222893e-01 1.98605888e-03 9.87078862e-01 -1.47335304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:-20.21, Z:-14.74 [[ 9.49940275e-01 2.72274678e-01 1.53231761e-01 9.44394854e+01] [-2.68454889e-01 9.62217317e-01 -4.54951345e-02 -2.02137208e+01] [-1.59829427e-01 2.08184518e-03 9.87142452e-01 -1.47380461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:-20.22, Z:-14.74 [[ 9.50032814e-01 2.72022093e-01 1.53106605e-01 9.44653441e+01] [-2.68206547e-01 9.62288682e-01 -4.54504273e-02 -2.02225276e+01] [-1.59696274e-01 2.11520356e-03 9.87163931e-01 -1.47427867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56587156 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:94.49, Y:-20.23, Z:-14.75 [[ 9.50123677e-01 2.71759563e-01 1.53008947e-01 9.44925604e+01] [-2.67947134e-01 9.62362782e-01 -4.54115472e-02 -2.02319485e+01] [-1.59591138e-01 2.14827744e-03 9.87180862e-01 -1.47486819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:-20.24, Z:-14.75 [[ 9.50044995e-01 2.71837311e-01 1.53359005e-01 9.45208317e+01] [-2.68008976e-01 9.62340851e-01 -4.55112685e-02 -2.02436185e+01] [-1.59955297e-01 2.13616279e-03 9.87121948e-01 -1.47533874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:-20.25, Z:-14.76 [[ 9.49963767e-01 2.72144891e-01 1.53316668e-01 9.45501094e+01] [-2.68322700e-01 9.62254029e-01 -4.54984789e-02 -2.02542471e+01] [-1.59911760e-01 2.08356413e-03 9.87129114e-01 -1.47580327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:94.58, Y:-20.26, Z:-14.76 [[ 9.49742383e-01 2.72616245e-01 1.53849892e-01 9.45805460e+01] [-2.68772953e-01 9.62120744e-01 -4.56593115e-02 -2.02647369e+01] [-1.60469643e-01 2.01389335e-03 9.87038722e-01 -1.47645658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:-20.28, Z:-14.77 [[ 9.49443845e-01 2.73473002e-01 1.54171663e-01 9.46100683e+01] [-2.69619351e-01 9.61877792e-01 -4.57877577e-02 -2.02765074e+01] [-1.60816015e-01 1.90524105e-03 9.86982563e-01 -1.47687558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:-20.29, Z:-14.77 [[ 9.49363330e-01 2.73838176e-01 1.54019225e-01 9.46389827e+01] [-2.69991787e-01 9.61773958e-01 -4.57743175e-02 -2.02864850e+01] [-1.60666436e-01 1.87253264e-03 9.87006986e-01 -1.47736097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.67, Y:-20.30, Z:-14.78 [[ 9.49278348e-01 2.74169700e-01 1.53953218e-01 9.46669399e+01] [-2.70330288e-01 9.61679606e-01 -4.57588344e-02 -2.02962222e+01] [-1.60599356e-01 1.81965296e-03 9.87018002e-01 -1.47797251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:-20.31, Z:-14.78 [[ 9.49084568e-01 2.74959887e-01 1.53738557e-01 9.46948725e+01] [-2.71141222e-01 9.61454221e-01 -4.56970244e-02 -2.03072255e+01] [-1.60377433e-01 1.68548058e-03 9.87054324e-01 -1.47842435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:-20.32, Z:-14.79 [[ 9.49144310e-01 2.74958319e-01 1.53372104e-01 9.47237889e+01] [-2.71157641e-01 9.61454673e-01 -4.55899654e-02 -2.03174872e+01] [-1.59995666e-01 1.68343838e-03 9.87116281e-01 -1.47894678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:94.75, Y:-20.33, Z:-14.80 [[ 9.49200844e-01 2.74982597e-01 1.52978198e-01 9.47527531e+01] [-2.71201422e-01 9.61447740e-01 -4.54756151e-02 -2.03288739e+01] [-1.59585546e-01 1.67758743e-03 9.87182678e-01 -1.47958284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:-20.34, Z:-14.80 [[ 9.49483955e-01 2.74174408e-01 1.52671587e-01 9.47824114e+01] [-2.70394011e-01 9.61678236e-01 -4.54098005e-02 -2.03443965e+01] [-1.59271148e-01 1.83439418e-03 9.87233172e-01 -1.48009451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:-20.36, Z:-14.81 [[ 9.49520834e-01 2.74065040e-01 1.52638594e-01 9.48116965e+01] [-2.70279550e-01 9.61709313e-01 -4.54330511e-02 -2.03560258e+01] [-1.59245569e-01 1.88453801e-03 9.87237204e-01 -1.48063418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:94.84, Y:-20.37, Z:-14.81 [[ 9.49491662e-01 2.74224367e-01 1.52533863e-01 9.48420791e+01] [-2.70441208e-01 9.61663890e-01 -4.54325327e-02 -2.03677604e+01] [-1.59145015e-01 1.88636891e-03 9.87253415e-01 -1.48127313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:-20.38, Z:-14.82 [[ 9.49312076e-01 2.74951522e-01 1.52342518e-01 9.48718698e+01] [-2.71182152e-01 9.61456419e-01 -4.54069828e-02 -2.03827510e+01] [-1.58955411e-01 1.79282531e-03 9.87284135e-01 -1.48175112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:-20.39, Z:-14.82 [[ 9.49275268e-01 2.75083592e-01 1.52333463e-01 9.49034952e+01] [-2.71311040e-01 9.61418622e-01 -4.54373401e-02 -2.03923247e+01] [-1.58955295e-01 1.80279289e-03 9.87284136e-01 -1.48231681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:-20.40, Z:-14.83 [[ 9.49047160e-01 2.75973031e-01 1.52145899e-01 9.49335034e+01] [-2.72217547e-01 9.61163922e-01 -4.54039922e-02 -2.04037815e+01] [-1.58767426e-01 1.67374650e-03 9.87314592e-01 -1.48282047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:94.96, Y:-20.42, Z:-14.84 [[ 9.48719746e-01 2.77336543e-01 1.51707894e-01 9.49642063e+01] [-2.73617024e-01 9.60771726e-01 -4.52925429e-02 -2.04153519e+01] [-1.58317933e-01 1.46006728e-03 9.87387108e-01 -1.48353671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.99, Y:-20.43, Z:-14.84 [[ 9.48383212e-01 2.78777178e-01 1.51170659e-01 9.49933292e+01] [-2.75097288e-01 9.60355004e-01 -4.51635771e-02 -2.04264438e+01] [-1.57768073e-01 1.24574007e-03 9.87475409e-01 -1.48408127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.02, Y:-20.44, Z:-14.85 [[ 9.47459187e-01 2.82065429e-01 1.50864784e-01 9.50231859e+01] [-2.78437265e-01 9.59394897e-01 -4.51012367e-02 -2.04397511e+01] [-1.57460403e-01 7.25203300e-04 9.87525035e-01 -1.48460157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:-20.45, Z:-14.85 [[ 9.46786563e-01 2.84214323e-01 1.51054371e-01 9.50532146e+01] [-2.80599070e-01 9.58760689e-01 -4.51896340e-02 -2.04504137e+01] [-1.57668535e-01 3.99222089e-04 9.87492012e-01 -1.48501704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16587156000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:95.08, Y:-20.46, Z:-14.86 [[ 9.45957832e-01 2.86630074e-01 1.51680520e-01 9.50841061e+01] [-2.83010869e-01 9.58041335e-01 -4.54053690e-02 -2.04612241e+01] [-1.58330752e-01 2.43286485e-05 9.87386131e-01 -1.48566621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:-20.47, Z:-14.86 [[ 9.44434718e-01 2.91275654e-01 1.52320569e-01 9.51141706e+01] [-2.87683409e-01 9.56638876e-01 -4.56104870e-02 -2.04719611e+01] [-1.59001003e-01 -7.43973195e-04 9.87278141e-01 -1.48606571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:-20.48, Z:-14.87 [[ 9.43735288e-01 2.93491311e-01 1.52402615e-01 9.51420627e+01] [-2.89918516e-01 9.55961125e-01 -4.56681780e-02 -2.04805663e+01] [-1.59094189e-01 -1.08566882e-03 9.87262812e-01 -1.48652685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.17, Y:-20.49, Z:-14.87 [[ 9.43122523e-01 2.95555321e-01 1.52206960e-01 9.51707940e+01] [-2.92019105e-01 9.55324547e-01 -4.56053868e-02 -2.04892812e+01] [-1.58885959e-01 -1.43587271e-03 9.87295898e-01 -1.48714650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.20, Y:-20.50, Z:-14.88 [[ 9.41953445e-01 2.99541859e-01 1.51652177e-01 9.51974189e+01] [-2.96082726e-01 9.54080849e-01 -4.54395523e-02 -2.04973553e+01] [-1.58299486e-01 -2.09964722e-03 9.87388912e-01 -1.48765298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:-20.51, Z:-14.88 [[ 9.41478097e-01 3.01156687e-01 1.51405558e-01 9.52256724e+01] [-2.97730559e-01 9.53571717e-01 -4.53596198e-02 -2.05052840e+01] [-1.58036411e-01 -2.37297298e-03 9.87430434e-01 -1.48809606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:-20.51, Z:-14.89 [[ 9.40993310e-01 3.02654845e-01 1.51431952e-01 9.52525825e+01] [-2.99247404e-01 9.53096603e-01 -4.53636056e-02 -2.05126293e+01] [-1.58058794e-01 -2.62876903e-03 9.87426204e-01 -1.48859390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:-20.52, Z:-14.89 [[ 9.40724424e-01 3.03559837e-01 1.51291053e-01 9.52797713e+01] [-3.00171337e-01 9.52808310e-01 -4.53154811e-02 -2.05199568e+01] [-1.57907333e-01 -2.78385786e-03 9.87450011e-01 -1.48910629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:-20.53, Z:-14.90 [[ 9.40625911e-01 3.03903938e-01 1.51212738e-01 9.53071175e+01] [-3.00524640e-01 9.52698424e-01 -4.52841454e-02 -2.05271030e+01] [-1.57822167e-01 -2.84771288e-03 9.87463444e-01 -1.48954584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:-20.53, Z:-14.90 [[ 9.40505575e-01 3.04138735e-01 1.51488923e-01 9.53343006e+01] [-3.00751301e-01 9.52623335e-01 -4.53589700e-02 -2.05329450e+01] [-1.58107302e-01 -2.90012632e-03 9.87417678e-01 -1.49005091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:-20.54, Z:-14.90 [[ 9.40556272e-01 3.04159975e-01 1.51131097e-01 9.53616805e+01] [-3.00790483e-01 9.52616535e-01 -4.52418180e-02 -2.05402309e+01] [-1.57730732e-01 -2.90632001e-03 9.87477883e-01 -1.49048098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:-20.55, Z:-14.91 [[ 9.40554554e-01 3.03999625e-01 1.51464054e-01 9.53903947e+01] [-3.00614446e-01 9.52667756e-01 -4.53332297e-02 -2.05477522e+01] [-1.58076205e-01 -2.89390704e-03 9.87422675e-01 -1.49102498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:-20.55, Z:-14.91 [[ 9.40386040e-01 3.03884200e-01 1.52736664e-01 9.54172070e+01] [-3.00440683e-01 9.52704553e-01 -4.57102887e-02 -2.05527092e+01] [-1.59403549e-01 -2.90299015e-03 9.87209239e-01 -1.49142679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:-20.56, Z:-14.92 [[ 9.40463944e-01 3.03442477e-01 1.53134692e-01 9.54447415e+01] [-2.99976775e-01 9.52845509e-01 -4.58188842e-02 -2.05590661e+01] [-1.59817099e-01 -2.84584247e-03 9.87142541e-01 -1.49190530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:-20.57, Z:-14.92 [[ 9.40613304e-01 3.02852950e-01 1.53384166e-01 9.54713990e+01] [-2.99369437e-01 9.53033306e-01 -4.58852607e-02 -2.05655489e+01] [-1.60076705e-01 -2.75824463e-03 9.87100725e-01 -1.49238975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:-20.57, Z:-14.93 [[ 9.40907416e-01 3.01736555e-01 1.53779988e-01 9.54976747e+01] [-2.98221823e-01 9.53387837e-01 -4.59932208e-02 -2.05715733e+01] [-1.60489806e-01 -2.58518583e-03 9.87034112e-01 -1.49290758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:-20.58, Z:-14.93 [[ 9.41758597e-01 2.99220176e-01 1.53486255e-01 9.55261300e+01] [-2.95687349e-01 9.54181646e-01 -4.58952956e-02 -2.05770003e+01] [-1.60186565e-01 -2.16165454e-03 9.87084389e-01 -1.49338811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:-20.58, Z:-14.94 [[ 9.42315219e-01 2.97847965e-01 1.52737085e-01 9.55534717e+01] [-2.94333099e-01 9.54611376e-01 -4.56634164e-02 -2.05837302e+01] [-1.59405314e-01 -1.92624725e-03 9.87211343e-01 -1.49391588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:95.58, Y:-20.59, Z:-14.95 [[ 9.42915292e-01 2.96229708e-01 1.52179866e-01 9.55813711e+01] [-2.92720901e-01 9.55115294e-01 -4.54890020e-02 -2.05905061e+01] [-1.58824511e-01 -1.65395193e-03 9.87305444e-01 -1.49452880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:-20.60, Z:-14.95 [[ 9.44023565e-01 2.93054193e-01 1.51455434e-01 9.56102155e+01] [-2.89539508e-01 9.56095174e-01 -4.52646711e-02 -2.05951808e+01] [-1.58070811e-01 -1.12141577e-03 9.87427142e-01 -1.49493695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:-20.60, Z:-14.95 [[ 9.44594427e-01 2.91576371e-01 1.50746770e-01 9.56370564e+01] [-2.88077194e-01 9.56547150e-01 -4.50453052e-02 -2.06008464e+01] [-1.57330540e-01 -8.77162401e-04 9.87545610e-01 -1.49536741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.66, Y:-20.61, Z:-14.96 [[ 9.44975685e-01 2.90436081e-01 1.50558422e-01 9.56648964e+01] [-2.86932912e-01 9.56894142e-01 -4.49789481e-02 -2.06080561e+01] [-1.57131981e-01 -6.96154062e-04 9.87577367e-01 -1.49599165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82587156000001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:95.69, Y:-20.62, Z:-14.96 [[ 9.45427278e-01 2.88643349e-01 1.51169706e-01 9.56923907e+01] [-2.85089309e-01 9.57436606e-01 -4.51578521e-02 -2.06157735e+01] [-1.57769923e-01 -4.03401663e-04 9.87475817e-01 -1.49644980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:-20.62, Z:-14.97 [[ 9.45661297e-01 2.87784101e-01 1.51344052e-01 9.57199974e+01] [-2.84212166e-01 9.57695275e-01 -4.52018262e-02 -2.06230344e+01] [-1.57949850e-01 -2.68203309e-04 9.87447099e-01 -1.49683646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:-20.63, Z:-14.97 [[ 9.45839907e-01 2.87197057e-01 1.51343057e-01 9.57475883e+01] [-2.83618629e-01 9.57871505e-01 -4.51957293e-02 -2.06296132e+01] [-1.57947282e-01 -1.75785853e-04 9.87447530e-01 -1.49725702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:-20.64, Z:-14.98 [[ 9.45935339e-01 2.86655490e-01 1.51772742e-01 9.57760548e+01] [-2.83050951e-01 9.58033727e-01 -4.53159778e-02 -2.06363148e+01] [-1.58393479e-01 -9.34340728e-05 9.87376067e-01 -1.49777842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:-20.64, Z:-14.98 [[ 9.46110463e-01 2.85814374e-01 1.52266662e-01 9.58040265e+01] [-2.82175988e-01 9.58285000e-01 -4.54595432e-02 -2.06423369e+01] [-1.58907849e-01 4.37537700e-05 9.87293418e-01 -1.49823433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:-20.65, Z:-14.99 [[ 9.46332382e-01 2.85179474e-01 1.52077910e-01 9.58310866e+01] [-2.81542953e-01 9.58474124e-01 -4.53973457e-02 -2.06497561e+01] [-1.58709133e-01 1.44514257e-04 9.87325372e-01 -1.49873555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:-20.66, Z:-14.99 [[ 9.46420185e-01 2.84859830e-01 1.52130572e-01 9.58593000e+01] [-2.81217983e-01 9.58569163e-01 -4.54049012e-02 -2.06578892e+01] [-1.58761707e-01 1.90262427e-04 9.87316912e-01 -1.49926103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.89, Y:-20.66, Z:-15.00 [[ 9.46723938e-01 2.84047050e-01 1.51759872e-01 9.58868165e+01] [-2.80413278e-01 9.58810289e-01 -4.52904425e-02 -2.06645033e+01] [-1.58373543e-01 3.22063135e-04 9.87379217e-01 -1.49982837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-20.67, Z:-15.00 [[ 9.46860500e-01 2.83720845e-01 1.51517907e-01 9.59150592e+01] [-2.80095537e-01 9.58906849e-01 -4.52122258e-02 -2.06725971e+01] [-1.58119210e-01 3.70181159e-04 9.87419961e-01 -1.50030301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-20.68, Z:-15.01 [[ 9.47056330e-01 2.83387481e-01 1.50916676e-01 9.59420877e+01] [-2.79787493e-01 9.59005401e-01 -4.50288765e-02 -2.06797363e+01] [-1.57490527e-01 4.20284172e-04 9.87520409e-01 -1.50079114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:-20.69, Z:-15.01 [[ 9.47086365e-01 2.83468637e-01 1.50575392e-01 9.59693315e+01] [-2.79886610e-01 9.58981423e-01 -4.49234416e-02 -2.06869592e+01] [-1.57133391e-01 4.02343005e-04 9.87577306e-01 -1.50128796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:-20.69, Z:-15.02 [[ 9.47124606e-01 2.83630000e-01 1.50030012e-01 9.59963142e+01] [-2.80077251e-01 9.58933725e-01 -4.47531513e-02 -2.06930967e+01] [-1.56562175e-01 3.66817327e-04 9.87668037e-01 -1.50184384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.02, Y:-20.70, Z:-15.02 [[ 9.47103772e-01 2.83970432e-01 1.49516687e-01 9.60240250e+01] [-2.80447856e-01 9.58832990e-01 -4.45903195e-02 -2.07010862e+01] [-1.56023864e-01 3.00025664e-04 9.87753240e-01 -1.50237090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.05, Y:-20.71, Z:-15.03 [[ 9.47024800e-01 2.84287783e-01 1.49413805e-01 9.60518119e+01] [-2.80775219e-01 9.58738963e-01 -4.45519657e-02 -2.07087498e+01] [-1.55914416e-01 2.40122556e-04 9.87770539e-01 -1.50288302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.08, Y:-20.71, Z:-15.03 [[ 9.46669731e-01 2.85119684e-01 1.50077268e-01 9.60794804e+01] [-2.81587287e-01 9.58491918e-01 -4.47419655e-02 -2.07144920e+01] [-1.56604663e-01 9.60138351e-05 9.87661364e-01 -1.50331968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:-20.72, Z:-15.04 [[ 9.46476088e-01 2.85347043e-01 1.50864444e-01 9.61064592e+01] [-2.81781368e-01 9.58424260e-01 -4.49688567e-02 -2.07217930e+01] [-1.57423873e-01 5.11581449e-05 9.87531124e-01 -1.50372336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:-20.73, Z:-15.04 [[ 9.46319805e-01 2.85558034e-01 1.51444497e-01 9.61339165e+01] [-2.81968999e-01 9.58361419e-01 -4.51317411e-02 -2.07291334e+01] [-1.58026294e-01 6.40716856e-06 9.87434904e-01 -1.50416929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-20.74, Z:-15.05 [[ 9.46200754e-01 2.85682219e-01 1.51953292e-01 9.61620354e+01] [-2.82071793e-01 9.58324407e-01 -4.52750920e-02 -2.07367389e+01] [-1.58554837e-01 -2.24113296e-05 9.87350173e-01 -1.50462847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:-20.74, Z:-15.05 [[ 9.45931279e-01 2.86228435e-01 1.52601762e-01 9.61899026e+01] [-2.82594636e-01 9.58161400e-01 -4.54642977e-02 -2.07435746e+01] [-1.59230292e-01 -1.18338035e-04 9.87241460e-01 -1.50507718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:-20.75, Z:-15.06 [[ 9.45964253e-01 2.86181040e-01 1.52486208e-01 9.62175184e+01] [-2.82553174e-01 9.58175557e-01 -4.54236177e-02 -2.07517063e+01] [-1.59107936e-01 -1.16343410e-04 9.87261187e-01 -1.50561107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:-20.76, Z:-15.06 [[ 9.46008660e-01 2.86071075e-01 1.52417044e-01 9.62438940e+01] [-2.82445699e-01 9.58208396e-01 -4.53993109e-02 -2.07590029e+01] [-1.59034721e-01 -1.01397159e-04 9.87272985e-01 -1.50609653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:-20.77, Z:-15.07 [[ 9.46123738e-01 2.85641451e-01 1.52508469e-01 9.62711980e+01] [-2.82007811e-01 9.58336559e-01 -4.54162371e-02 -2.07658553e+01] [-1.59127201e-01 -3.91994049e-05 9.87258088e-01 -1.50651385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:-20.77, Z:-15.07 [[ 9.46390914e-01 2.84675989e-01 1.52655888e-01 9.62975659e+01] [-2.81024082e-01 9.58623789e-01 -4.54521452e-02 -2.07727951e+01] [-1.59278700e-01 1.15516550e-04 9.87233651e-01 -1.50700839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-20.78, Z:-15.07 [[ 9.46604675e-01 2.84006465e-01 1.52577577e-01 9.63237962e+01] [-2.80351300e-01 9.58822340e-01 -4.54188163e-02 -2.07807309e+01] [-1.59194027e-01 2.18341987e-04 9.87247291e-01 -1.50749046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54587156000001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:96.35, Y:-20.79, Z:-15.08 [[ 9.46860838e-01 2.83271619e-01 1.52354008e-01 9.63513043e+01] [-2.79619619e-01 9.59039666e-01 -4.53407995e-02 -2.07883358e+01] [-1.58957299e-01 3.30257620e-04 9.87285404e-01 -1.50803908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:-20.80, Z:-15.08 [[ 9.47550737e-01 2.81034120e-01 1.52208486e-01 9.63773812e+01] [-2.77361663e-01 9.59697523e-01 -4.52898600e-02 -2.07962839e+01] [-1.58802103e-01 6.97641350e-04 9.87310187e-01 -1.50849787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:-20.80, Z:-15.09 [[ 9.47936369e-01 2.79814892e-01 1.52053502e-01 9.64035823e+01] [-2.76136143e-01 9.60053558e-01 -4.52326912e-02 -2.08043032e+01] [-1.58636286e-01 8.90245482e-04 9.87336688e-01 -1.50901203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:-20.81, Z:-15.10 [[ 9.48354514e-01 2.78360067e-01 1.52116367e-01 9.64310736e+01] [-2.74661226e-01 9.60476136e-01 -4.52416007e-02 -2.08126287e+01] [-1.58697595e-01 1.12460848e-03 9.87326597e-01 -1.50952338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:-20.82, Z:-15.10 [[ 9.48771316e-01 2.76970310e-01 1.52054061e-01 9.64586952e+01] [-2.73258057e-01 9.60877530e-01 -4.52151149e-02 -2.08209801e+01] [-1.58628575e-01 1.34880693e-03 9.87337407e-01 -1.51004604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:-20.83, Z:-15.11 [[ 9.49695073e-01 2.73917022e-01 1.51818096e-01 9.64855985e+01] [-2.70178182e-01 9.61751545e-01 -4.51410652e-02 -2.08311587e+01] [-1.58376195e-01 1.85231002e-03 9.87377106e-01 -1.51058944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:-20.84, Z:-15.11 [[ 9.50005516e-01 2.71535797e-01 1.54135757e-01 9.65119040e+01] [-2.68408382e-01 9.62425656e-01 -4.11557628e-02 -2.08431821e+01] [-1.59519470e-01 -2.27312738e-03 9.87192166e-01 -1.51118008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:-20.85, Z:-15.12 [[ 9.50723056e-01 2.71001054e-01 1.50612413e-01 9.65431346e+01] [-2.66578765e-01 9.62556203e-01 -4.92068836e-02 -2.08488576e+01] [-1.58308029e-01 6.63204779e-03 9.87367502e-01 -1.51156848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:-20.86, Z:-15.12 [[ 9.51216709e-01 2.68482051e-01 1.52000530e-01 9.65714865e+01] [-2.64665124e-01 9.63280730e-01 -4.51952231e-02 -2.08614955e+01] [-1.58553287e-01 2.76121236e-03 9.87346561e-01 -1.51213595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:-20.88, Z:-15.13 [[ 9.52171058e-01 2.64912690e-01 1.52287696e-01 9.66005347e+01] [-2.61031730e-01 9.64266453e-01 -4.53060974e-02 -2.08752365e+01] [-1.58848077e-01 3.38723393e-03 9.87297227e-01 -1.51264229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:-20.89, Z:-15.13 [[ 9.52523708e-01 2.63547269e-01 1.52451380e-01 9.66305624e+01] [-2.59636227e-01 9.64639596e-01 -4.53814838e-02 -2.08870333e+01] [-1.59020804e-01 3.64503797e-03 9.87268503e-01 -1.51315743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.66, Y:-20.90, Z:-15.14 [[ 9.52412967e-01 2.61991765e-01 1.55787852e-01 9.66578771e+01] [-2.58914843e-01 9.65067712e-01 -4.00925947e-02 -2.09018890e+01] [-1.60849755e-01 -2.15108004e-03 9.86976560e-01 -1.51380056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.69, Y:-20.91, Z:-15.14 [[ 9.52406009e-01 2.62960668e-01 1.54189758e-01 9.66880166e+01] [-2.58986451e-01 9.64799921e-01 -4.56851320e-02 -2.09073410e+01] [-1.60775659e-01 3.57773604e-03 9.86984492e-01 -1.51427332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:-20.92, Z:-15.15 [[ 9.53104938e-01 2.62233324e-01 1.51078329e-01 9.67190538e+01] [-2.57453158e-01 9.64958168e-01 -5.07307120e-02 -2.09184191e+01] [-1.59087551e-01 9.45609908e-03 9.87219192e-01 -1.51466995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:96.75, Y:-20.93, Z:-15.15 [[ 9.53051387e-01 2.61615430e-01 1.52480888e-01 9.67470515e+01] [-2.57662899e-01 9.65163649e-01 -4.54858337e-02 -2.09334608e+01] [-1.59068807e-01 4.06166919e-03 9.87259144e-01 -1.51533450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99587156000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:96.78, Y:-20.95, Z:-15.16 [[ 9.52966370e-01 2.62041482e-01 1.52280529e-01 9.67771895e+01] [-2.58099949e-01 9.65048260e-01 -4.54562741e-02 -2.09462268e+01] [-1.58869489e-01 4.01470381e-03 9.87291430e-01 -1.51582857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:-20.96, Z:-15.16 [[ 9.52706547e-01 2.62761421e-01 1.52665226e-01 9.68062204e+01] [-2.58803679e-01 9.64852806e-01 -4.56039342e-02 -2.09588976e+01] [-1.59282426e-01 3.93684448e-03 9.87225207e-01 -1.51641175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:-20.97, Z:-15.17 [[ 9.52170722e-01 2.64958244e-01 1.52210529e-01 9.68349910e+01] [-2.61047082e-01 9.64253208e-01 -4.54991425e-02 -2.09744143e+01] [-1.58824863e-01 3.58883704e-03 9.87300250e-01 -1.51698196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:-20.99, Z:-15.18 [[ 9.51806747e-01 2.66611020e-01 1.51599740e-01 9.68655957e+01] [-2.62749384e-01 9.63798508e-01 -4.53342907e-02 -2.09865840e+01] [-1.58198225e-01 3.31674537e-03 9.87401803e-01 -1.51757579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:-21.00, Z:-15.18 [[ 9.51270871e-01 2.68775648e-01 1.51140273e-01 9.68955523e+01] [-2.64959943e-01 9.63198210e-01 -4.52265105e-02 -2.09986437e+01] [-1.57733825e-01 2.97654402e-03 9.87477180e-01 -1.51816431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:-21.01, Z:-15.19 [[ 9.49871213e-01 2.73943719e-01 1.50663593e-01 9.69252771e+01] [-2.70212485e-01 9.61743349e-01 -4.51103563e-02 -2.10128173e+01] [-1.57257407e-01 2.13784488e-03 9.87555334e-01 -1.51872238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:-21.02, Z:-15.19 [[ 9.48895686e-01 2.77453922e-01 1.50387160e-01 9.69553615e+01] [-2.73778320e-01 9.60737671e-01 -4.50395324e-02 -2.10241487e+01] [-1.56979004e-01 1.56507397e-03 9.87600700e-01 -1.51927159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:-21.04, Z:-15.20 [[ 9.47827315e-01 2.81029799e-01 1.50484661e-01 9.69858255e+01] [-2.77389283e-01 9.59698518e-01 -4.50992262e-02 -2.10350905e+01] [-1.57094133e-01 1.00344619e-03 9.87583124e-01 -1.51978291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:-21.05, Z:-15.20 [[ 9.46736891e-01 2.84713974e-01 1.50423446e-01 9.70151875e+01] [-2.81117423e-01 9.58612421e-01 -4.51134281e-02 -2.10456866e+01] [-1.57042207e-01 4.23895143e-04 9.87591801e-01 -1.52029413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:-21.06, Z:-15.21 [[ 9.44624621e-01 2.91419091e-01 1.50861654e-01 9.70442521e+01] [-2.87881043e-01 9.56595253e-01 -4.52772280e-02 -2.10574389e+01] [-1.57508191e-01 -6.60226114e-04 9.87517460e-01 -1.52081244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:-21.07, Z:-15.21 [[ 9.43767494e-01 2.94184871e-01 1.50858145e-01 9.70732353e+01] [-2.90681448e-01 9.55747881e-01 -4.52800549e-02 -2.10670339e+01] [-1.57503059e-01 -1.11782006e-03 9.87517867e-01 -1.52131498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:-21.08, Z:-15.22 [[ 9.42920160e-01 2.96765487e-01 1.51102013e-01 9.71027942e+01] [-2.93282921e-01 9.54949135e-01 -4.53572117e-02 -2.10767446e+01] [-1.57755192e-01 -1.54741056e-03 9.87477040e-01 -1.52188913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:-21.09, Z:-15.22 [[ 9.41478711e-01 3.01110453e-01 1.51493669e-01 9.71330680e+01] [-2.97665146e-01 9.53586547e-01 -4.54770141e-02 -2.10871483e+01] [-1.58155929e-01 -2.27874431e-03 9.87411520e-01 -1.52238787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:-21.10, Z:-15.23 [[ 9.40865263e-01 3.02795507e-01 1.51945508e-01 9.71615630e+01] [-2.99346491e-01 9.53052163e-01 -4.56426699e-02 -2.10963040e+01] [-1.58632390e-01 -2.54075189e-03 9.87334447e-01 -1.52289525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:-21.10, Z:-15.23 [[ 9.40378215e-01 3.04097264e-01 1.52360321e-01 9.71887404e+01] [-3.00644441e-01 9.52636999e-01 -4.57784690e-02 -2.11043783e+01] [-1.59065186e-01 -2.75720850e-03 9.87264232e-01 -1.52336161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-21.11, Z:-15.24 [[ 9.40008873e-01 3.05130800e-01 1.52572980e-01 9.72157251e+01] [-3.01683086e-01 9.52305900e-01 -4.58343499e-02 -2.11125022e+01] [-1.59281621e-01 -2.94399190e-03 9.87228797e-01 -1.52387416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:-21.12, Z:-15.24 [[ 9.39814586e-01 3.05944557e-01 1.52139649e-01 9.72421806e+01] [-3.02528351e-01 9.52044347e-01 -4.56963693e-02 -2.11203082e+01] [-1.58824248e-01 -3.08044270e-03 9.87302066e-01 -1.52438656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:-21.13, Z:-15.25 [[ 9.39788018e-01 3.05992571e-01 1.52207187e-01 9.72697739e+01] [-3.02575548e-01 9.52028854e-01 -4.57066568e-02 -2.11286727e+01] [-1.58891532e-01 -3.09960479e-03 9.87291180e-01 -1.52485951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:-21.14, Z:-15.25 [[ 9.39930932e-01 3.05517408e-01 1.52279207e-01 9.72974299e+01] [-3.02092212e-01 9.52181675e-01 -4.57203745e-02 -2.11368959e+01] [-1.58965840e-01 -3.02836822e-03 9.87279439e-01 -1.52534790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.33, Y:-21.15, Z:-15.26 [[ 9.40167739e-01 3.04764402e-01 1.52326235e-01 9.73256382e+01] [-3.01328584e-01 9.52423326e-01 -4.57262772e-02 -2.11452128e+01] [-1.59014801e-01 -2.90987811e-03 9.87271911e-01 -1.52589400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:-21.15, Z:-15.26 [[ 9.40967800e-01 3.02090119e-01 1.52712669e-01 9.73538809e+01] [-2.98602418e-01 9.53276176e-01 -4.58380658e-02 -2.11525476e+01] [-1.59424575e-01 -2.46822811e-03 9.87207026e-01 -1.52638359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:-21.16, Z:-15.27 [[ 9.41595174e-01 3.00169482e-01 1.52632924e-01 9.73834069e+01] [-2.96660751e-01 9.53883475e-01 -4.58117242e-02 -2.11609200e+01] [-1.59345305e-01 -2.14409937e-03 9.87220581e-01 -1.52686639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:-21.17, Z:-15.27 [[ 9.42412292e-01 2.97516392e-01 1.52784386e-01 9.74121895e+01] [-2.93965310e-01 9.54715209e-01 -4.58613757e-02 -2.11692631e+01] [-1.59510088e-01 -1.69298534e-03 9.87194847e-01 -1.52739746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:-21.18, Z:-15.28 [[ 9.44385610e-01 2.91223589e-01 1.52724066e-01 9.74412032e+01] [-2.87593101e-01 9.56654812e-01 -4.58451701e-02 -2.11788090e+01] [-1.59455408e-01 -6.26868893e-04 9.87204933e-01 -1.52786648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:-21.19, Z:-15.28 [[ 9.45427522e-01 2.87958497e-01 1.52468700e-01 9.74724157e+01] [-2.84297635e-01 9.57642887e-01 -4.57706911e-02 -2.11896003e+01] [-1.59190625e-01 -7.36197880e-05 9.87247861e-01 -1.52845209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:-21.20, Z:-15.29 [[ 9.46347322e-01 2.84846806e-01 1.52607478e-01 9.75025541e+01] [-2.81133776e-01 9.58572931e-01 -4.58446869e-02 -2.12002905e+01] [-1.59344110e-01 4.81880192e-04 9.87222985e-01 -1.52904071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:-21.21, Z:-15.30 [[ 9.47207723e-01 2.81840610e-01 1.52850907e-01 9.75335743e+01] [-2.78073678e-01 9.59460710e-01 -4.59366418e-02 -2.12109640e+01] [-1.59601251e-01 1.00772814e-03 9.87181050e-01 -1.52957623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:-21.22, Z:-15.30 [[ 9.48577405e-01 2.77140302e-01 1.52951496e-01 9.75632681e+01] [-2.73302273e-01 9.60827714e-01 -4.59996921e-02 -2.12211085e+01] [-1.59708405e-01 1.83227700e-03 9.87162534e-01 -1.53007370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:-21.23, Z:-15.31 [[ 9.49098980e-01 2.75490187e-01 1.52696706e-01 9.75943994e+01] [-2.71638931e-01 9.61301511e-01 -4.59531865e-02 -2.12315443e+01] [-1.59447226e-01 2.13575247e-03 9.87204143e-01 -1.53064216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:-21.24, Z:-15.31 [[ 9.49523195e-01 2.74139872e-01 1.52489447e-01 9.76242060e+01] [-2.70276635e-01 9.61686859e-01 -4.59230383e-02 -2.12418067e+01] [-1.59236434e-01 2.39065529e-03 9.87237582e-01 -1.53117086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:-21.25, Z:-15.32 [[ 9.50158790e-01 2.72200435e-01 1.52003939e-01 9.76545784e+01] [-2.68332478e-01 9.62236685e-01 -4.58065905e-02 -2.12524966e+01] [-1.58732340e-01 2.73594095e-03 9.87317861e-01 -1.53164979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:-21.26, Z:-15.32 [[ 9.50342305e-01 2.71738916e-01 1.51682118e-01 9.76856852e+01] [-2.67877012e-01 9.62366835e-01 -4.57381760e-02 -2.12625735e+01] [-1.58402682e-01 2.83477110e-03 9.87370525e-01 -1.53223318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:97.72, Y:-21.27, Z:-15.33 [[ 9.50418766e-01 2.71568833e-01 1.51507551e-01 9.77158371e+01] [-2.67708549e-01 9.62414677e-01 -4.57178662e-02 -2.12726796e+01] [-1.58228639e-01 2.89125137e-03 9.87398267e-01 -1.53280529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98587156 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:97.75, Y:-21.28, Z:-15.33 [[ 9.50372492e-01 2.71643084e-01 1.51664632e-01 9.77466275e+01] [-2.67770835e-01 9.62393661e-01 -4.57954264e-02 -2.12836395e+01] [-1.58401092e-01 2.91134824e-03 9.87370558e-01 -1.53337628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.78, Y:-21.29, Z:-15.34 [[ 9.50301859e-01 2.71753245e-01 1.51909683e-01 9.77762262e+01] [-2.67864635e-01 9.62362507e-01 -4.59014415e-02 -2.12945544e+01] [-1.58666049e-01 2.92899343e-03 9.87327963e-01 -1.53391459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:-21.31, Z:-15.34 [[ 9.50262718e-01 2.71944814e-01 1.51811677e-01 9.78066812e+01] [-2.68058966e-01 9.62308407e-01 -4.59012050e-02 -2.13053695e+01] [-1.58572248e-01 2.92372261e-03 9.87343048e-01 -1.53443056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.84, Y:-21.32, Z:-15.35 [[ 9.50154342e-01 2.72345824e-01 1.51771136e-01 9.78369927e+01] [-2.68462067e-01 9.62195104e-01 -4.59205926e-02 -2.13159138e+01] [-1.58539726e-01 2.88685750e-03 9.87348379e-01 -1.53502211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:-21.33, Z:-15.36 [[ 9.50039994e-01 2.72812354e-01 1.51649033e-01 9.78680463e+01] [-2.68935695e-01 9.62063079e-01 -4.59154026e-02 -2.13266467e+01] [-1.58422224e-01 2.83763074e-03 9.87367382e-01 -1.53555209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:97.90, Y:-21.34, Z:-15.36 [[ 9.49445786e-01 2.75238485e-01 1.50985019e-01 9.78971133e+01] [-2.71421262e-01 9.61372851e-01 -4.57464815e-02 -2.13376432e+01] [-1.57744090e-01 2.45325966e-03 9.87476979e-01 -1.53612822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:-21.35, Z:-15.37 [[ 9.48932190e-01 2.77074800e-01 1.50855075e-01 9.79277347e+01] [-2.73284245e-01 9.60845914e-01 -4.57258187e-02 -2.13480835e+01] [-1.57617955e-01 2.16438590e-03 9.87497795e-01 -1.53666864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:-21.36, Z:-15.37 [[ 9.48320706e-01 2.79341993e-01 1.50518732e-01 9.79591770e+01] [-2.75591850e-01 9.60189961e-01 -4.56549113e-02 -2.13582491e+01] [-1.57279910e-01 1.81376180e-03 9.87552399e-01 -1.53721692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:97.99, Y:-21.37, Z:-15.38 [[ 9.47550864e-01 2.82230725e-01 1.49977259e-01 9.79893228e+01] [-2.78538715e-01 9.59345594e-01 -4.55215879e-02 -2.13675715e+01] [-1.56727613e-01 1.35954691e-03 9.87640930e-01 -1.53775305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:-21.38, Z:-15.38 [[ 9.45874193e-01 2.87850925e-01 1.49879474e-01 9.80207615e+01] [-2.84228976e-01 9.57675120e-01 -4.55220160e-02 -2.13759410e+01] [-1.56639397e-01 4.58010778e-04 9.87655755e-01 -1.53826270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-21.39, Z:-15.39 [[ 9.45000963e-01 2.90749059e-01 1.49793742e-01 9.80520536e+01] [-2.87165481e-01 9.56799344e-01 -4.55082592e-02 -2.13851389e+01] [-1.56554038e-01 -1.02432985e-05 9.87669395e-01 -1.53879045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-21.39, Z:-15.39 [[ 9.44261124e-01 2.93114072e-01 1.49850160e-01 9.80827326e+01] [-2.89552262e-01 9.56077404e-01 -4.55574891e-02 -2.13942986e+01] [-1.56621893e-01 -3.71286931e-04 9.87658567e-01 -1.53934041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.11, Y:-21.40, Z:-15.40 [[ 9.43580297e-01 2.95249274e-01 1.49946957e-01 9.81136648e+01] [-2.91704922e-01 9.55420002e-01 -4.56164312e-02 -2.14036942e+01] [-1.56730540e-01 -6.97499746e-04 9.87641155e-01 -1.53990070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:-21.41, Z:-15.40 [[ 9.42726122e-01 2.97254175e-01 1.51351957e-01 9.81452931e+01] [-2.93663098e-01 9.54797852e-01 -4.60765376e-02 -2.14123494e+01] [-1.58206966e-01 -1.00892887e-03 9.87405458e-01 -1.54048972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.18, Y:-21.42, Z:-15.41 [[ 9.42567395e-01 2.97760566e-01 1.51345141e-01 9.81769912e+01] [-2.94171009e-01 9.54639994e-01 -4.61074853e-02 -2.14213977e+01] [-1.58209115e-01 -1.06194048e-03 9.87405058e-01 -1.54102744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:-21.43, Z:-15.42 [[ 9.42557659e-01 2.97705006e-01 1.51514980e-01 9.82069727e+01] [-2.94101194e-01 9.54657366e-01 -4.61930872e-02 -2.14298192e+01] [-1.58396805e-01 -1.02108819e-03 9.87375010e-01 -1.54158664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:-21.44, Z:-15.42 [[ 9.42655338e-01 2.97531391e-01 1.51248091e-01 9.82372171e+01] [-2.93934949e-01 9.54711542e-01 -4.61315260e-02 -2.14386042e+01] [-1.58123875e-01 -9.70970555e-04 9.87418805e-01 -1.54211953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:-21.45, Z:-15.43 [[ 9.43140883e-01 2.95897866e-01 1.51425651e-01 9.82674801e+01] [-2.92267176e-01 9.55219349e-01 -4.62157164e-02 -2.14465231e+01] [-1.58319844e-01 -6.68815875e-04 9.87387654e-01 -1.54267879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:-21.46, Z:-15.43 [[ 9.43483324e-01 2.94767764e-01 1.51496476e-01 9.82972754e+01] [-2.91114732e-01 9.55568815e-01 -4.62650229e-02 -2.14553596e+01] [-1.58402745e-01 -4.52578328e-04 9.87374481e-01 -1.54320316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:-21.46, Z:-15.44 [[ 9.43956056e-01 2.93316924e-01 1.51367587e-01 9.83273235e+01] [-2.89647554e-01 9.56015245e-01 -4.62509038e-02 -2.14645017e+01] [-1.58275893e-01 -1.84430577e-04 9.87394910e-01 -1.54375379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:-21.47, Z:-15.44 [[ 9.44468848e-01 2.91763478e-01 1.51170987e-01 9.83583109e+01] [-2.88079608e-01 9.56490493e-01 -4.62177091e-02 -2.14743117e+01] [-1.58078252e-01 1.01907666e-04 9.87426583e-01 -1.54433916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.39, Y:-21.48, Z:-15.45 [[ 9.45406477e-01 2.88759313e-01 1.51078296e-01 9.83888326e+01] [-2.85036724e-01 9.57401512e-01 -4.62213207e-02 -2.14840803e+01] [-1.57989426e-01 6.35073467e-04 9.87440600e-01 -1.54486287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:-21.49, Z:-15.45 [[ 9.45929626e-01 2.86823143e-01 1.51491346e-01 9.84199201e+01] [-2.83052367e-01 9.57983051e-01 -4.63662797e-02 -2.14929586e+01] [-1.58425064e-01 9.79253486e-04 9.87370518e-01 -1.54539257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:-21.50, Z:-15.46 [[ 9.46355798e-01 2.85308587e-01 1.51689531e-01 9.84513044e+01] [-2.81503273e-01 9.58434874e-01 -4.64596627e-02 -2.15028218e+01] [-1.58639877e-01 1.26627177e-03 9.87335701e-01 -1.54597933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.48, Y:-21.51, Z:-15.47 [[ 9.46799951e-01 2.83859607e-01 1.51636327e-01 9.84815736e+01] [-2.80033270e-01 9.58864616e-01 -4.64759774e-02 -2.15132843e+01] [-1.58591361e-01 1.54023663e-03 9.87343105e-01 -1.54650317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.51, Y:-21.53, Z:-15.47 [[ 9.47656553e-01 2.80548634e-01 1.52445141e-01 9.85115181e+01] [-2.76633533e-01 9.59837435e-01 -4.67545321e-02 -2.15262794e+01] [-1.59439473e-01 2.13580075e-03 9.87205395e-01 -1.54705117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:-21.54, Z:-15.48 [[ 9.48145341e-01 2.78857784e-01 1.52508192e-01 9.85414301e+01] [-2.74912539e-01 9.60329279e-01 -4.68056916e-02 -2.15371883e+01] [-1.59510213e-01 2.45218434e-03 9.87193233e-01 -1.54758886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:-21.55, Z:-15.48 [[ 9.48122615e-01 2.78939741e-01 1.52499601e-01 9.85729658e+01] [-2.74991052e-01 9.60305436e-01 -4.68336633e-02 -2.15470001e+01] [-1.59509966e-01 2.46802958e-03 9.87193233e-01 -1.54815638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:98.60, Y:-21.56, Z:-15.49 [[ 9.48522590e-01 2.77625569e-01 1.52410430e-01 9.86039720e+01] [-2.73662626e-01 9.60685565e-01 -4.68189322e-02 -2.15584539e+01] [-1.59416633e-01 2.69977623e-03 9.87207703e-01 -1.54871468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:-21.57, Z:-15.49 [[ 9.48911574e-01 2.76032515e-01 1.52881898e-01 9.86349109e+01] [-2.72019126e-01 9.61143591e-01 -4.69956606e-02 -2.15695998e+01] [-1.59913787e-01 3.00792590e-03 9.87126402e-01 -1.54925085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:-21.58, Z:-15.50 [[ 9.49523486e-01 2.73608092e-01 1.53439765e-01 9.86650998e+01] [-2.69528336e-01 9.61835034e-01 -4.72000427e-02 -2.15832204e+01] [-1.60498055e-01 3.46118443e-03 9.87030088e-01 -1.54981281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.69, Y:-21.59, Z:-15.50 [[ 9.49727278e-01 2.72862457e-01 1.53506277e-01 9.86941367e+01] [-2.68764039e-01 9.62046239e-01 -4.72538456e-02 -2.15944996e+01] [-1.60573937e-01 3.62129912e-03 9.87017172e-01 -1.55034912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:-21.61, Z:-15.51 [[ 9.49944748e-01 2.72095970e-01 1.53521198e-01 9.87237048e+01] [-2.67981763e-01 9.62262690e-01 -4.72894415e-02 -2.16060668e+01] [-1.60594988e-01 3.78147532e-03 9.87013146e-01 -1.55089962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:-21.62, Z:-15.51 [[ 9.50071288e-01 2.71872157e-01 1.53134185e-01 9.87528020e+01] [-2.67771028e-01 9.62325721e-01 -4.72004577e-02 -2.16183025e+01] [-1.60197455e-01 3.83890146e-03 9.87077524e-01 -1.55144310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.78, Y:-21.63, Z:-15.52 [[ 9.50035433e-01 2.72077244e-01 1.52992319e-01 9.87824094e+01] [-2.67981561e-01 9.62267793e-01 -4.71866229e-02 -2.16328446e+01] [-1.60057987e-01 3.82984335e-03 9.87100184e-01 -1.55203756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-21.64, Z:-15.53 [[ 9.49855889e-01 2.72536325e-01 1.53289730e-01 9.88126644e+01] [-2.68425113e-01 9.62138020e-01 -4.73116244e-02 -2.16448482e+01] [-1.60380013e-01 3.79241212e-03 9.87048058e-01 -1.55257932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-21.66, Z:-15.53 [[ 9.49586519e-01 2.73429007e-01 1.53368905e-01 9.88427582e+01] [-2.69319686e-01 9.61885163e-01 -4.73691964e-02 -2.16572179e+01] [-1.60475386e-01 3.67588510e-03 9.87032998e-01 -1.55310318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:-21.67, Z:-15.54 [[ 9.49255282e-01 2.74603868e-01 1.53320333e-01 9.88723726e+01] [-2.70506984e-01 9.61551042e-01 -4.73873993e-02 -2.16692664e+01] [-1.60438089e-01 3.50851833e-03 9.87039670e-01 -1.55363302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.90, Y:-21.68, Z:-15.54 [[ 9.48556552e-01 2.77023248e-01 1.53292493e-01 9.89017442e+01] [-2.72954212e-01 9.60858122e-01 -4.74095716e-02 -2.16836789e+01] [-1.60425891e-01 3.12882810e-03 9.87042929e-01 -1.55418323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:-21.70, Z:-15.55 [[ 9.48111496e-01 2.78504821e-01 1.53361195e-01 9.89313071e+01] [-2.74446180e-01 9.60430421e-01 -4.74626220e-02 -2.16954186e+01] [-1.60511326e-01 2.91046335e-03 9.87029707e-01 -1.55472224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:98.96, Y:-21.71, Z:-15.55 [[ 9.47752101e-01 2.79888578e-01 1.53063186e-01 9.89615030e+01] [-2.75858958e-01 9.60028696e-01 -4.73997658e-02 -2.17077075e+01] [-1.60211704e-01 2.69937666e-03 9.87078985e-01 -1.55530128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:-21.72, Z:-15.56 [[ 9.47280398e-01 2.81480037e-01 1.53064813e-01 9.89916619e+01] [-2.77465839e-01 9.59563928e-01 -4.74318043e-02 -2.17205399e+01] [-1.60226579e-01 2.46096181e-03 9.87077194e-01 -1.55582567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24587156000001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:99.02, Y:-21.73, Z:-15.56 [[ 9.46597688e-01 2.83831815e-01 1.52945474e-01 9.90204284e+01] [-2.79849245e-01 9.58871797e-01 -4.74265419e-02 -2.17338530e+01] [-1.60116263e-01 2.09217956e-03 9.87095945e-01 -1.55637604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.05, Y:-21.75, Z:-15.57 [[ 9.46221189e-01 2.84990853e-01 1.53119808e-01 9.90510072e+01] [-2.81009411e-01 9.58528299e-01 -4.75101055e-02 -2.17457526e+01] [-1.60309614e-01 1.92696150e-03 9.87064899e-01 -1.55691078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:-21.76, Z:-15.57 [[ 9.45541618e-01 2.87119881e-01 1.53340215e-01 9.90802130e+01] [-2.83149393e-01 9.57893321e-01 -4.76109988e-02 -2.17597508e+01] [-1.60553632e-01 1.59999203e-03 9.87025821e-01 -1.55737415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:99.11, Y:-21.77, Z:-15.58 [[ 9.45050428e-01 2.88533383e-01 1.53714589e-01 9.91104761e+01] [-2.84556969e-01 9.57468823e-01 -4.77575589e-02 -2.17711419e+01] [-1.60956577e-01 1.39274393e-03 9.86960506e-01 -1.55794588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:-21.78, Z:-15.58 [[ 9.44556741e-01 2.89961863e-01 1.54060643e-01 9.91414752e+01] [-2.85981003e-01 9.57037469e-01 -4.78972674e-02 -2.17822594e+01] [-1.61330189e-01 1.18326957e-03 9.86899777e-01 -1.55846505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:-21.79, Z:-15.59 [[ 9.44127258e-01 2.91263446e-01 1.54237885e-01 9.91708806e+01] [-2.87285179e-01 9.56642366e-01 -4.79855140e-02 -2.17928878e+01] [-1.61526922e-01 9.94173309e-04 9.86867805e-01 -1.55899325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:99.20, Y:-21.80, Z:-15.60 [[ 9.43683461e-01 2.92822081e-01 1.54002449e-01 9.92009319e+01] [-2.88871639e-01 9.56166647e-01 -4.79428707e-02 -2.18042197e+01] [-1.61290736e-01 7.55954386e-04 9.86906646e-01 -1.55959571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:-21.82, Z:-15.60 [[ 9.43104831e-01 2.94991354e-01 1.53405930e-01 9.92304052e+01] [-2.91094817e-01 9.55499832e-01 -4.77899501e-02 -2.18169998e+01] [-1.60676962e-01 4.15261787e-04 9.87006961e-01 -1.56019751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.26, Y:-21.83, Z:-15.61 [[ 9.42963576e-01 2.95740069e-01 1.52831624e-01 9.92612925e+01] [-2.91877690e-01 9.55268398e-01 -4.76413939e-02 -2.18276117e+01] [-1.60084690e-01 3.15957569e-04 9.87103233e-01 -1.56083928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:-21.84, Z:-15.61 [[ 9.42863060e-01 2.96452057e-01 1.52070469e-01 9.92919497e+01] [-2.92632416e-01 9.55047710e-01 -4.74356525e-02 -2.18384000e+01] [-1.59296950e-01 2.24575626e-04 9.87230688e-01 -1.56140887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:-21.85, Z:-15.62 [[ 9.42765900e-01 2.97025069e-01 1.51553837e-01 9.93220876e+01] [-2.93233693e-01 9.54869668e-01 -4.73066382e-02 -2.18498596e+01] [-1.58765420e-01 1.58393868e-04 9.87316320e-01 -1.56199634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:-21.86, Z:-15.63 [[ 9.42731290e-01 2.97052382e-01 1.51715517e-01 9.93521310e+01] [-2.93247980e-01 9.54861167e-01 -4.73895993e-02 -2.18603350e+01] [-1.58944449e-01 1.85389030e-04 9.87287510e-01 -1.56251333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:-21.87, Z:-15.63 [[ 9.42776664e-01 2.96819264e-01 1.51889717e-01 9.93818197e+01] [-2.92998074e-01 9.54933641e-01 -4.74749301e-02 -2.18705183e+01] [-1.59136075e-01 2.54861548e-04 9.87256626e-01 -1.56305668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:-21.88, Z:-15.64 [[ 9.43011114e-01 2.96073966e-01 1.51888925e-01 9.94114659e+01] [-2.92240179e-01 9.55164932e-01 -4.74934767e-02 -2.18819749e+01] [-1.59140556e-01 3.98829925e-04 9.87255856e-01 -1.56355285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:-21.89, Z:-15.64 [[ 9.42974937e-01 2.96139297e-01 1.51986137e-01 9.94418487e+01] [-2.92296806e-01 9.55144672e-01 -4.75524274e-02 -2.18923201e+01] [-1.59250891e-01 4.15684934e-04 9.87238057e-01 -1.56410299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:-21.90, Z:-15.65 [[ 9.42883189e-01 2.96404747e-01 1.52037882e-01 9.94725370e+01] [-2.92557816e-01 9.55062335e-01 -4.76010533e-02 -2.19027411e+01] [-1.59314833e-01 4.02362347e-04 9.87227746e-01 -1.56465602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:-21.91, Z:-15.65 [[ 9.42796192e-01 2.96653003e-01 1.52093181e-01 9.95037925e+01] [-2.92801133e-01 9.54985257e-01 -4.76513921e-02 -2.19128690e+01] [-1.59382675e-01 3.92495249e-04 9.87216799e-01 -1.56521806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:-21.92, Z:-15.66 [[ 9.42658156e-01 2.97043320e-01 1.52186950e-01 9.95338232e+01] [-2.93186217e-01 9.54863936e-01 -4.77148335e-02 -2.19229266e+01] [-1.59491202e-01 3.59660856e-04 9.87199284e-01 -1.56581901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:-21.93, Z:-15.66 [[ 9.42513138e-01 2.97517169e-01 1.52159518e-01 9.95648958e+01] [-2.93662496e-01 9.54716418e-01 -4.77378287e-02 -2.19329435e+01] [-1.59472014e-01 3.09986873e-04 9.87202401e-01 -1.56636397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:-21.94, Z:-15.67 [[ 9.42383191e-01 2.97953726e-01 1.52110154e-01 9.95960227e+01] [-2.94102213e-01 9.54580277e-01 -4.77533503e-02 -2.19430125e+01] [-1.59429641e-01 2.66021835e-04 9.87209258e-01 -1.56693239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:-21.95, Z:-15.67 [[ 9.42274928e-01 2.98233925e-01 1.52231685e-01 9.96264649e+01] [-2.94374469e-01 9.54492778e-01 -4.78247776e-02 -2.19527407e+01] [-1.59567015e-01 2.50967375e-04 9.87187067e-01 -1.56747702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:-21.96, Z:-15.68 [[ 9.42037691e-01 2.98826509e-01 1.52537554e-01 9.96569537e+01] [-2.94954136e-01 9.54307437e-01 -4.79517797e-02 -2.19628211e+01] [-1.59896985e-01 1.80801590e-04 9.87133690e-01 -1.56804447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:-21.97, Z:-15.69 [[ 9.41959951e-01 2.99093847e-01 1.52493677e-01 9.96878802e+01] [-2.95221870e-01 9.54223686e-01 -4.79708780e-02 -2.19727575e+01] [-1.59860873e-01 1.67177495e-04 9.87139541e-01 -1.56863982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:-21.98, Z:-15.69 [[ 9.41938722e-01 2.99325915e-01 1.52169119e-01 9.97181823e+01] [-2.95468225e-01 9.54150916e-01 -4.79015295e-02 -2.19829483e+01] [-1.59530473e-01 1.59166049e-04 9.87192992e-01 -1.56919698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:-21.99, Z:-15.70 [[ 9.41971353e-01 2.99147389e-01 1.52318117e-01 9.97490557e+01] [-2.95274844e-01 9.54206891e-01 -4.79789004e-02 -2.19935452e+01] [-1.59695760e-01 2.19041455e-04 9.87166256e-01 -1.56978134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:-22.01, Z:-15.70 [[ 9.42292695e-01 2.97819478e-01 1.52931474e-01 9.97796277e+01] [-2.93892897e-01 9.54622088e-01 -4.82040884e-02 -2.20050620e+01] [-1.60347879e-01 4.76886588e-04 9.87060449e-01 -1.57038369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:-22.02, Z:-15.71 [[ 9.42610255e-01 2.96887347e-01 1.52786813e-01 9.98108283e+01] [-2.92950732e-01 9.54912278e-01 -4.81913855e-02 -2.20155662e+01] [-1.60205417e-01 6.66685257e-04 9.87083472e-01 -1.57093692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:-22.03, Z:-15.71 [[ 9.42931688e-01 2.95984304e-01 1.52555311e-01 9.98407702e+01] [-2.92042632e-01 9.55192425e-01 -4.81511461e-02 -2.20257439e+01] [-1.59971660e-01 8.50587108e-04 9.87121241e-01 -1.57148407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:-22.04, Z:-15.72 [[ 9.43295810e-01 2.95002205e-01 1.52206158e-01 9.98716426e+01] [-2.91061111e-01 9.55496002e-01 -4.80709928e-02 -2.20366525e+01] [-1.59613424e-01 1.04387257e-03 9.87179044e-01 -1.57202987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:-22.05, Z:-15.73 [[ 9.43615159e-01 2.93946743e-01 1.52268655e-01 9.99021760e+01] [-2.89983357e-01 9.55820975e-01 -4.81239666e-02 -2.20478622e+01] [-1.59687458e-01 1.25512867e-03 9.87166825e-01 -1.57266371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.93, Y:-22.06, Z:-15.73 [[ 9.44000172e-01 2.92733645e-01 1.52219210e-01 9.99322520e+01] [-2.88751805e-01 9.56192861e-01 -4.81415470e-02 -2.20613159e+01] [-1.59643572e-01 1.49205709e-03 9.87173593e-01 -1.57320024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:99.96, Y:-22.07, Z:-15.74 [[ 9.43980256e-01 2.92697256e-01 1.52412573e-01 9.99621564e+01] [-2.88699349e-01 9.56203936e-01 -4.82360665e-02 -2.20724472e+01] [-1.59856066e-01 1.53248386e-03 9.87139144e-01 -1.57377906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:-22.08, Z:-15.74 [[ 9.43888973e-01 2.93124232e-01 1.52157126e-01 9.99929904e+01] [-2.89140357e-01 9.56073204e-01 -4.81859093e-02 -2.20831754e+01] [-1.59597808e-01 1.48738290e-03 9.87181000e-01 -1.57428373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:100.02, Y:-22.09, Z:-15.75 [[ 9.43688107e-01 2.93919423e-01 1.51868792e-01 1.00022495e+02] [-2.89955571e-01 9.55829201e-01 -4.81280126e-02 -2.20936724e+01] [-1.59306384e-01 1.38263082e-03 9.87228223e-01 -1.57481973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.05, Y:-22.11, Z:-15.75 [[ 9.43272845e-01 2.95586170e-01 1.51212289e-01 1.00053296e+02] [-2.91673084e-01 9.55315418e-01 -4.79506407e-02 -2.21051185e+01] [-1.58628978e-01 1.12598256e-03 9.87337622e-01 -1.57543381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:-22.12, Z:-15.76 [[ 9.43051012e-01 2.96466598e-01 1.50871951e-01 1.00083090e+02] [-2.92577218e-01 9.55042691e-01 -4.78751457e-02 -2.21150882e+01] [-1.58282536e-01 1.00700887e-03 9.87393349e-01 -1.57595712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:-22.13, Z:-15.77 [[ 9.42719152e-01 2.97503239e-01 1.50905347e-01 1.00114032e+02] [-2.93620487e-01 9.54720419e-01 -4.79158647e-02 -2.21258134e+01] [-1.58327542e-01 8.62301695e-04 9.87386270e-01 -1.57653327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35587156000001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:100.14, Y:-22.14, Z:-15.77 [[ 9.42053875e-01 2.99513550e-01 1.51083190e-01 1.00144481e+02] [-2.95641974e-01 9.54091884e-01 -4.80052089e-02 -2.21369835e+01] [-1.58525456e-01 5.56960607e-04 9.87354733e-01 -1.57712640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:-22.15, Z:-15.78 [[ 9.41720934e-01 3.00456926e-01 1.51285553e-01 1.00174141e+02] [-2.96581582e-01 9.53795287e-01 -4.81031823e-02 -2.21472203e+01] [-1.58748381e-01 4.31265336e-04 9.87318979e-01 -1.57764012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:100.20, Y:-22.16, Z:-15.78 [[ 9.41331990e-01 3.01548408e-01 1.51534291e-01 1.00203990e+02] [-2.97669218e-01 9.53450827e-01 -4.82136540e-02 -2.21579747e+01] [-1.59019246e-01 2.77960962e-04 9.87275444e-01 -1.57823847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:-22.17, Z:-15.79 [[ 9.40912190e-01 3.03001278e-01 1.51243103e-01 1.00233190e+02] [-2.99150876e-01 9.52990148e-01 -4.81511358e-02 -2.21691155e+01] [-1.58723043e-01 6.14838194e-05 9.87323145e-01 -1.57871421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:-22.18, Z:-15.79 [[ 9.40821063e-01 3.03631282e-01 1.50544917e-01 1.00262814e+02] [-2.99819892e-01 9.52789612e-01 -4.79581926e-02 -2.21791669e+01] [-1.57999241e-01 -1.62831192e-05 9.87439233e-01 -1.57930354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.29, Y:-22.19, Z:-15.80 [[ 9.40708753e-01 3.04124834e-01 1.50250219e-01 1.00293258e+02] [-3.00330087e-01 9.52632185e-01 -4.78931993e-02 -2.21897467e+01] [-1.57698706e-01 -7.11095791e-05 9.87487272e-01 -1.57994909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:-22.20, Z:-15.80 [[ 9.40549396e-01 3.04718566e-01 1.50044761e-01 1.00324247e+02] [-3.00936680e-01 9.52442427e-01 -4.78595697e-02 -2.22003278e+01] [-1.57492696e-01 -1.39682882e-04 9.87520142e-01 -1.58042684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.36, Y:-22.21, Z:-15.81 [[ 9.40324990e-01 3.05104137e-01 1.50666446e-01 1.00355259e+02] [-3.01290416e-01 9.52318978e-01 -4.80900226e-02 -2.22113794e+01] [-1.58154981e-01 -1.74106185e-04 9.87414286e-01 -1.58098404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.38, Y:-22.22, Z:-15.82 [[ 9.40170286e-01 3.05452100e-01 1.50926630e-01 1.00384637e+02] [-3.01624296e-01 9.52207422e-01 -4.82059112e-02 -2.22214973e+01] [-1.58438054e-01 -2.01373256e-04 9.87368899e-01 -1.58152492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62587156000001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:100.42, Y:-22.23, Z:-15.82 [[ 9.40055504e-01 3.05821471e-01 1.50893596e-01 1.00415208e+02] [-3.01997032e-01 9.52088844e-01 -4.82143681e-02 -2.22318720e+01] [-1.58409098e-01 -2.45236001e-04 9.87373535e-01 -1.58206538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:-22.24, Z:-15.83 [[ 9.39937018e-01 3.06133990e-01 1.50997957e-01 1.00445662e+02] [-3.02303074e-01 9.51988397e-01 -4.82798381e-02 -2.22417734e+01] [-1.58528402e-01 -2.67139417e-04 9.87354381e-01 -1.58258561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:-22.25, Z:-15.83 [[ 9.39478793e-01 3.07685621e-01 1.50695575e-01 1.00476498e+02] [-3.03885211e-01 9.51487945e-01 -4.82127494e-02 -2.22520485e+01] [-1.58219393e-01 -4.99301068e-04 9.87403856e-01 -1.58313912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:-22.26, Z:-15.84 [[ 9.39439656e-01 3.07809613e-01 1.50686349e-01 1.00507900e+02] [-3.04006166e-01 9.51447845e-01 -4.82415670e-02 -2.22622629e+01] [-1.58219420e-01 -4.89538185e-04 9.87403856e-01 -1.58370683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:-22.27, Z:-15.84 [[ 9.39175929e-01 3.08506932e-01 1.50904100e-01 1.00538386e+02] [-3.04698035e-01 9.51221913e-01 -4.83319781e-02 -2.22723096e+01] [-1.58454037e-01 -5.87952174e-04 9.87366180e-01 -1.58423600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.57, Y:-22.28, Z:-15.85 [[ 9.38933373e-01 3.09197648e-01 1.50999786e-01 1.00568251e+02] [-3.05387469e-01 9.50997561e-01 -4.83955862e-02 -2.22823355e+01] [-1.58564230e-01 -6.73211570e-04 9.87348435e-01 -1.58478702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:-22.29, Z:-15.85 [[ 9.38755293e-01 3.09650002e-01 1.51179947e-01 1.00599365e+02] [-3.05833397e-01 9.50850325e-01 -4.84725976e-02 -2.22915354e+01] [-1.58759042e-01 -7.31969205e-04 9.87317087e-01 -1.58534366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:-22.30, Z:-15.86 [[ 9.38785863e-01 3.09725686e-01 1.50834686e-01 1.00629961e+02] [-3.05922485e-01 9.50825690e-01 -4.83936055e-02 -2.23003021e+01] [-1.58406237e-01 -7.12489321e-04 9.87373767e-01 -1.58589787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:-22.31, Z:-15.86 [[ 9.38947193e-01 3.09352257e-01 1.50596644e-01 1.00660299e+02] [-3.05551674e-01 9.50947315e-01 -4.83464388e-02 -2.23109595e+01] [-1.58165554e-01 -6.20303531e-04 9.87412413e-01 -1.58644239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:-22.32, Z:-15.87 [[ 9.39178849e-01 3.08560687e-01 1.50775967e-01 1.00691475e+02] [-3.04735742e-01 9.51204549e-01 -4.84358788e-02 -2.23215836e+01] [-1.58364193e-01 -4.56873126e-04 9.87380663e-01 -1.58705057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:-22.33, Z:-15.88 [[ 9.39509253e-01 3.07592065e-01 1.50696666e-01 1.00721359e+02] [-3.03753461e-01 9.51518288e-01 -4.84435955e-02 -2.23313633e+01] [-1.58291499e-01 -2.61427673e-04 9.87392391e-01 -1.58759650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:-22.34, Z:-15.88 [[ 9.40272755e-01 3.05433851e-01 1.50324015e-01 1.00751992e+02] [-3.01582005e-01 9.52213288e-01 -4.83544103e-02 -2.23416597e+01] [-1.57909598e-01 1.31316887e-04 9.87453564e-01 -1.58809070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:-22.35, Z:-15.89 [[ 9.40663206e-01 3.04215075e-01 1.50352653e-01 1.00781450e+02] [-3.00341289e-01 9.52603304e-01 -4.83947969e-02 -2.23522009e+01] [-1.57948861e-01 3.66095245e-04 9.87447226e-01 -1.58863168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:-22.36, Z:-15.89 [[ 9.40960000e-01 3.03232967e-01 1.50479385e-01 1.00811761e+02] [-2.99335493e-01 9.52916289e-01 -4.84645021e-02 -2.23632770e+01] [-1.58090292e-01 5.59336931e-04 9.87424502e-01 -1.58915273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:-22.37, Z:-15.90 [[ 9.41141495e-01 3.02690494e-01 1.50436533e-01 1.00841482e+02] [-2.98783413e-01 9.53088664e-01 -4.84816467e-02 -2.23735989e+01] [-1.58054288e-01 6.80148689e-04 9.87430190e-01 -1.58962528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:-22.38, Z:-15.90 [[ 9.41339720e-01 3.02026990e-01 1.50529826e-01 1.00871013e+02] [-2.98101974e-01 9.53299022e-01 -4.85405862e-02 -2.23837866e+01] [-1.58160503e-01 8.19943759e-04 9.87413076e-01 -1.59013113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10587156000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:100.90, Y:-22.39, Z:-15.91 [[ 9.41184967e-01 3.02291880e-01 1.50965148e-01 1.00902317e+02] [-2.98342826e-01 9.53215071e-01 -4.87092084e-02 -2.23943799e+01] [-1.58626653e-01 8.05005664e-04 9.87338309e-01 -1.59067162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:-22.40, Z:-15.91 [[ 9.40894843e-01 3.02827518e-01 1.51698346e-01 1.00932713e+02] [-2.98841180e-01 9.53045083e-01 -4.89797827e-02 -2.24044175e+01] [-1.59407789e-01 7.51112169e-04 9.87212537e-01 -1.59115530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:-22.42, Z:-15.92 [[ 9.40396009e-01 3.04396942e-01 1.51650412e-01 1.00963310e+02] [-3.00428331e-01 9.52545136e-01 -4.89957339e-02 -2.24154292e+01] [-1.59368014e-01 5.15312613e-04 9.87219110e-01 -1.59170075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.99, Y:-22.43, Z:-15.92 [[ 9.40184461e-01 3.05210913e-01 1.51325731e-01 1.00994517e+02] [-3.01264756e-01 9.52284691e-01 -4.89225298e-02 -2.24259280e+01] [-1.59036867e-01 4.07092742e-04 9.87272561e-01 -1.59222760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:-22.44, Z:-15.93 [[ 9.39751972e-01 3.06614579e-01 1.51174507e-01 1.01025402e+02] [-3.02689103e-01 9.51833735e-01 -4.89065225e-02 -2.24356310e+01] [-1.58888448e-01 2.01125156e-04 9.87296521e-01 -1.59271448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:-22.45, Z:-15.93 [[ 9.39326238e-01 3.07910592e-01 1.51186262e-01 1.01055616e+02] [-3.03995658e-01 9.51415297e-01 -4.89445913e-02 -2.24454100e+01] [-1.58911480e-01 1.49717565e-05 9.87292835e-01 -1.59324923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:-22.46, Z:-15.94 [[ 9.38613437e-01 3.10141969e-01 1.51052225e-01 1.01085884e+02] [-3.06259356e-01 9.50690193e-01 -4.89220270e-02 -2.24551620e+01] [-1.58776642e-01 -3.42285171e-04 9.87314469e-01 -1.59373410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.12, Y:-22.47, Z:-15.94 [[ 9.38229895e-01 3.11291642e-01 1.51070109e-01 1.01116429e+02] [-3.07419757e-01 9.50314288e-01 -4.89473926e-02 -2.24650716e+01] [-1.58800998e-01 -5.18029344e-04 9.87310475e-01 -1.59427677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.15, Y:-22.47, Z:-15.95 [[ 9.37827081e-01 3.12462143e-01 1.51154803e-01 1.01146067e+02] [-3.08595717e-01 9.49929966e-01 -4.90075890e-02 -2.24746844e+01] [-1.58899493e-01 -6.85080623e-04 9.87294526e-01 -1.59479766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.18, Y:-22.48, Z:-15.95 [[ 9.37479170e-01 3.13392482e-01 1.51386785e-01 1.01177088e+02] [-3.09521262e-01 9.49623340e-01 -4.91131327e-02 -2.24846945e+01] [-1.59152111e-01 -8.14889774e-04 9.87253737e-01 -1.59531063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.21, Y:-22.49, Z:-15.96 [[ 9.37177450e-01 3.14269316e-01 1.51437195e-01 1.01208572e+02] [-3.10401712e-01 9.49333411e-01 -4.91614811e-02 -2.24946544e+01] [-1.59214334e-01 -9.33333257e-04 9.87243599e-01 -1.59586199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:-22.50, Z:-15.96 [[ 9.37159968e-01 3.14562620e-01 1.50935589e-01 1.01238062e+02] [-3.10719143e-01 9.49236251e-01 -4.90321684e-02 -2.25046780e+01] [-1.58697220e-01 -9.47591467e-04 9.87326843e-01 -1.59637825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:-22.52, Z:-15.97 [[ 9.37143548e-01 3.14842271e-01 1.50453694e-01 1.01268566e+02] [-3.11023917e-01 9.49143507e-01 -4.88950455e-02 -2.25150329e+01] [-1.58196374e-01 -9.73020928e-04 9.87407191e-01 -1.59698496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:-22.52, Z:-15.98 [[ 9.37194607e-01 3.14896724e-01 1.50021073e-01 1.01298621e+02] [-3.11095825e-01 9.49125469e-01 -4.87876201e-02 -2.25247438e+01] [-1.57751883e-01 -9.47435217e-04 9.87478327e-01 -1.59752634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:-22.54, Z:-15.98 [[ 9.37177213e-01 3.15080251e-01 1.49744140e-01 1.01329798e+02] [-3.11292732e-01 9.49064549e-01 -4.87167077e-02 -2.25352775e+01] [-1.57466527e-01 -9.58074103e-04 9.87523860e-01 -1.59812325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:-22.55, Z:-15.99 [[ 9.37202360e-01 3.14987889e-01 1.49781058e-01 1.01359486e+02] [-3.11192098e-01 9.49095253e-01 -4.87614479e-02 -2.25455979e+01] [-1.57515757e-01 -9.11337722e-04 9.87516053e-01 -1.59869261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:-22.56, Z:-15.99 [[ 9.37271178e-01 3.14977864e-01 1.49370961e-01 1.01390534e+02] [-3.11198043e-01 9.49098611e-01 -4.86580318e-02 -2.25566713e+01] [-1.57093974e-01 -8.78179882e-04 9.87583268e-01 -1.59919878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:-22.57, Z:-16.00 [[ 9.37325399e-01 3.14925530e-01 1.49140896e-01 1.01420953e+02] [-3.11151759e-01 9.49116014e-01 -4.86145492e-02 -2.25677225e+01] [-1.56861976e-01 -8.37800435e-04 9.87620179e-01 -1.59978915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.45, Y:-22.58, Z:-16.00 [[ 9.37226074e-01 3.15368716e-01 1.48828288e-01 1.01451650e+02] [-3.11611419e-01 9.48968808e-01 -4.85440490e-02 -2.25787998e+01] [-1.56542678e-01 -8.79845597e-04 9.87670803e-01 -1.60032972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:-22.59, Z:-16.01 [[ 9.37084780e-01 3.15975141e-01 1.48431211e-01 1.01482858e+02] [-3.12240605e-01 9.48766995e-01 -4.84457835e-02 -2.25894395e+01] [-1.56134297e-01 -9.48444758e-04 9.87735380e-01 -1.60085143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:101.51, Y:-22.60, Z:-16.01 [[ 9.36854235e-01 3.16614622e-01 1.48523816e-01 1.01512447e+02] [-3.12878123e-01 9.48553706e-01 -4.85092460e-02 -2.25999126e+01] [-1.56241552e-01 -1.02376008e-03 9.87718345e-01 -1.60139680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:-22.61, Z:-16.02 [[ 9.36248045e-01 3.18017306e-01 1.49347217e-01 1.01542710e+02] [-3.14253501e-01 9.48084090e-01 -4.87985092e-02 -2.26101346e+01] [-1.57112491e-01 -1.24537703e-03 9.87579928e-01 -1.60186386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:-22.62, Z:-16.02 [[ 9.35827246e-01 3.18926625e-01 1.50043907e-01 1.01573398e+02] [-3.15135964e-01 9.47778395e-01 -4.90452691e-02 -2.26203146e+01] [-1.57850215e-01 -1.38633211e-03 9.87462094e-01 -1.60240661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.60, Y:-22.63, Z:-16.03 [[ 9.35291585e-01 3.18702951e-01 1.53811831e-01 1.01602316e+02] [-3.15666849e-01 9.47828875e-01 -4.44394387e-02 -2.26336773e+01] [-1.59950275e-01 -6.98946302e-03 9.87100328e-01 -1.60300876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:-22.64, Z:-16.03 [[ 9.34811501e-01 3.22379819e-01 1.48992315e-01 1.01634434e+02] [-3.17698467e-01 9.46602072e-01 -5.48835329e-02 -2.26386654e+01] [-1.58729777e-01 3.97112784e-03 9.87314078e-01 -1.60346714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:-22.65, Z:-16.04 [[ 9.34537443e-01 3.22389841e-01 1.50680318e-01 1.01664315e+02] [-3.18596607e-01 9.46605100e-01 -4.93455863e-02 -2.26523274e+01] [-1.58543273e-01 -1.89093993e-03 9.87350219e-01 -1.60399556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:-22.66, Z:-16.05 [[ 9.34159286e-01 3.23650694e-01 1.50321842e-01 1.01695510e+02] [-3.19886748e-01 9.46174374e-01 -4.92597517e-02 -2.26626579e+01] [-1.58173627e-01 -2.06951063e-03 9.87409146e-01 -1.60457997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:-22.67, Z:-16.05 [[ 9.33868437e-01 3.24866185e-01 1.49504863e-01 1.01725493e+02] [-3.21153329e-01 9.45757362e-01 -4.90260250e-02 -2.26719218e+01] [-1.57322222e-01 -2.23012701e-03 9.87544807e-01 -1.60515251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:-22.68, Z:-16.06 [[ 9.33420666e-01 3.26616692e-01 1.48483658e-01 1.01756780e+02] [-3.22973587e-01 9.45153608e-01 -4.87105752e-02 -2.26812915e+01] [-1.56249552e-01 -2.48884202e-03 9.87714475e-01 -1.60583409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:101.79, Y:-22.69, Z:-16.06 [[ 9.33191644e-01 3.27221937e-01 1.48590579e-01 1.01786422e+02] [-3.23575868e-01 9.44944046e-01 -4.87791716e-02 -2.26911341e+01] [-1.56371397e-01 -2.56001008e-03 9.87695010e-01 -1.60644025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:-22.70, Z:-16.07 [[ 9.33004195e-01 3.27823775e-01 1.48441051e-01 1.01817344e+02] [-3.24189610e-01 9.44735203e-01 -4.87492792e-02 -2.27009362e+01] [-1.56218659e-01 -2.63976434e-03 9.87718969e-01 -1.60691489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.85, Y:-22.71, Z:-16.07 [[ 9.32847095e-01 3.28231867e-01 1.48526559e-01 1.01847563e+02] [-3.24593601e-01 9.44593385e-01 -4.88091334e-02 -2.27106768e+01] [-1.56317918e-01 -2.67931229e-03 9.87703159e-01 -1.60749171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:-22.72, Z:-16.08 [[ 9.32671112e-01 3.28446448e-01 1.49156052e-01 1.01878802e+02] [-3.24775127e-01 9.44518739e-01 -4.90455807e-02 -2.27195515e+01] [-1.56989533e-01 -2.69877944e-03 9.87596579e-01 -1.60793319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:-22.73, Z:-16.08 [[ 9.32665888e-01 3.28411555e-01 1.49265511e-01 1.01908524e+02] [-3.24729185e-01 9.44530971e-01 -4.91141684e-02 -2.27287346e+01] [-1.57115558e-01 -2.66375820e-03 9.87576633e-01 -1.60845801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:-22.74, Z:-16.09 [[ 9.32816424e-01 3.28104764e-01 1.48999275e-01 1.01939479e+02] [-3.24426950e-01 9.44637822e-01 -4.90564925e-02 -2.27383918e+01] [-1.56846019e-01 -2.57867849e-03 9.87619702e-01 -1.60902400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:101.97, Y:-22.75, Z:-16.10 [[ 9.33121262e-01 3.27239663e-01 1.48993001e-01 1.01969267e+02] [-3.23546061e-01 9.44938322e-01 -4.90867963e-02 -2.27476641e+01] [-1.56852343e-01 -2.40216533e-03 9.87619143e-01 -1.60963838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:-22.76, Z:-16.10 [[ 9.34079785e-01 3.24299237e-01 1.49415394e-01 1.01999532e+02] [-3.20542314e-01 9.45952669e-01 -4.92561912e-02 -2.27565957e+01] [-1.57313636e-01 -1.88474361e-03 9.87546894e-01 -1.61014084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:-22.77, Z:-16.11 [[ 9.34693141e-01 3.22506915e-01 1.49459096e-01 1.02030475e+02] [-3.18720251e-01 9.46565831e-01 -4.93003992e-02 -2.27671420e+01] [-1.57372593e-01 -1.55489552e-03 9.87538075e-01 -1.61068041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.06, Y:-22.78, Z:-16.11 [[ 9.36128803e-01 3.18367967e-01 1.49347583e-01 1.02060372e+02] [-3.14529317e-01 9.47966853e-01 -4.92965915e-02 -2.27778401e+01] [-1.57271014e-01 -8.26234273e-04 9.87555135e-01 -1.61126504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:-22.79, Z:-16.12 [[ 9.36730432e-01 3.16629251e-01 1.49271615e-01 1.02091224e+02] [-3.12769565e-01 9.48549235e-01 -4.92904429e-02 -2.27887211e+01] [-1.57198273e-01 -5.15760352e-04 9.87566928e-01 -1.61177293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:102.12, Y:-22.80, Z:-16.12 [[ 9.37295014e-01 3.14823394e-01 1.49546941e-01 1.02120911e+02] [-3.10921262e-01 9.49150250e-01 -4.94142777e-02 -2.27993253e+01] [-1.57499287e-01 -1.81567708e-04 9.87519084e-01 -1.61235288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:-22.81, Z:-16.13 [[ 9.37677568e-01 3.13614289e-01 1.49689201e-01 1.02151442e+02] [-3.09684505e-01 9.49550460e-01 -4.94917355e-02 -2.28105588e+01] [-1.57658765e-01 5.08641032e-05 9.87493651e-01 -1.61277939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:102.18, Y:-22.82, Z:-16.13 [[ 9.38304123e-01 3.11587387e-01 1.49995577e-01 1.02181919e+02] [-3.07610544e-01 9.50217407e-01 -4.96249084e-02 -2.28213456e+01] [-1.57990904e-01 4.23035176e-04 9.87440477e-01 -1.61330772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:102.21, Y:-22.83, Z:-16.14 [[ 9.38329654e-01 3.11510440e-01 1.49995689e-01 1.02212524e+02] [-3.07527487e-01 9.50242615e-01 -4.96569906e-02 -2.28318941e+01] [-1.58000967e-01 4.66829515e-04 9.87438847e-01 -1.61385758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:-22.85, Z:-16.14 [[ 9.38118750e-01 3.10663425e-01 1.53040671e-01 1.02241422e+02] [-3.07466095e-01 9.50506416e-01 -4.47454248e-02 -2.28454046e+01] [-1.59366906e-01 -5.07829533e-03 9.87206361e-01 -1.61441922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:-22.85, Z:-16.15 [[ 9.38203627e-01 3.12806214e-01 1.48075074e-01 1.02273420e+02] [-3.07996242e-01 9.49798231e-01 -5.49693958e-02 -2.28496709e+01] [-1.57836212e-01 5.96591997e-03 9.87447284e-01 -1.61496115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:-22.86, Z:-16.15 [[ 9.37876517e-01 3.13045379e-01 1.49633654e-01 1.02303119e+02] [-3.09089710e-01 9.49738129e-01 -4.96088397e-02 -2.28630285e+01] [-1.57642605e-01 2.76742991e-04 9.87496194e-01 -1.61547690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:-22.87, Z:-16.16 [[ 9.37726233e-01 3.13612300e-01 1.49388210e-01 1.02332922e+02] [-3.09671590e-01 9.49551094e-01 -4.95603271e-02 -2.28737772e+01] [-1.57394466e-01 2.12734385e-04 9.87535790e-01 -1.61606861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:-22.89, Z:-16.17 [[ 9.37668884e-01 3.13930875e-01 1.49078740e-01 1.02363720e+02] [-3.10005766e-01 9.49445823e-01 -4.94879233e-02 -2.28852631e+01] [-1.57077974e-01 1.88016820e-04 9.87586186e-01 -1.61665358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:-22.90, Z:-16.17 [[ 9.37691438e-01 3.14106144e-01 1.48566814e-01 1.02393707e+02] [-3.10205260e-01 9.49387853e-01 -4.93497929e-02 -2.28969981e+01] [-1.56548602e-01 1.88671087e-04 9.87670238e-01 -1.61715314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:-22.91, Z:-16.18 [[ 9.37663833e-01 3.14193475e-01 1.48556374e-01 1.02425001e+02] [-3.10288704e-01 9.49358951e-01 -4.93811999e-02 -2.29075256e+01] [-1.56548574e-01 2.07600476e-04 9.87670239e-01 -1.61772079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:-22.92, Z:-16.18 [[ 9.37589898e-01 3.14366727e-01 1.48656462e-01 1.02455041e+02] [-3.10456710e-01 9.49301598e-01 -4.94277912e-02 -2.29182211e+01] [-1.56658270e-01 1.91601488e-04 9.87652849e-01 -1.61829442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:-22.93, Z:-16.19 [[ 9.37553731e-01 3.14516119e-01 1.48568542e-01 1.02485944e+02] [-3.10607704e-01 9.49252112e-01 -4.94295616e-02 -2.29292109e+01] [-1.56575396e-01 1.96336122e-04 9.87665989e-01 -1.61886265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:-22.94, Z:-16.19 [[ 9.37529829e-01 3.14636070e-01 1.48465364e-01 1.02515964e+02] [-3.10729420e-01 9.49212358e-01 -4.94280011e-02 -2.29403141e+01] [-1.56476990e-01 2.07669149e-04 9.87681583e-01 -1.61938930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:-22.95, Z:-16.20 [[ 9.37585102e-01 3.14405719e-01 1.48604242e-01 1.02545096e+02] [-3.10483983e-01 9.49288664e-01 -4.95048332e-02 -2.29525359e+01] [-1.56632925e-01 2.75757238e-04 9.87656849e-01 -1.61984089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:-22.96, Z:-16.20 [[ 9.37516785e-01 3.14452685e-01 1.48935512e-01 1.02575756e+02] [-3.10509334e-01 9.49273102e-01 -4.96440531e-02 -2.29636991e+01] [-1.56991181e-01 2.96266344e-04 9.87599960e-01 -1.62036762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.61, Y:-22.97, Z:-16.21 [[ 9.37459840e-01 3.14472534e-01 1.49251710e-01 1.02605406e+02] [-3.10507285e-01 9.49266517e-01 -4.97825950e-02 -2.29746238e+01] [-1.57334910e-01 3.25440282e-04 9.87545250e-01 -1.62095561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:-22.99, Z:-16.21 [[ 9.37370144e-01 3.14756110e-01 1.49217304e-01 1.02636259e+02] [-3.10791382e-01 9.49172533e-01 -4.98018133e-02 -2.29864845e+01] [-1.57308391e-01 3.07280846e-04 9.87549480e-01 -1.62149473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:-23.00, Z:-16.22 [[ 9.37218579e-01 3.15025089e-01 1.49601230e-01 1.02665684e+02] [-3.11038073e-01 9.49083298e-01 -4.99620890e-02 -2.29990417e+01] [-1.57723340e-01 2.93719864e-04 9.87483297e-01 -1.62208023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.70, Y:-23.01, Z:-16.23 [[ 9.37304446e-01 3.14715632e-01 1.49714548e-01 1.02696703e+02] [-3.10713894e-01 9.49185931e-01 -5.00294473e-02 -2.30100005e+01] [-1.57851992e-01 3.74433379e-04 9.87462713e-01 -1.62268403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:-23.02, Z:-16.23 [[ 9.37191170e-01 3.15101002e-01 1.49613064e-01 1.02725882e+02] [-3.11104259e-01 9.49058081e-01 -5.00289692e-02 -2.30214137e+01] [-1.57755666e-01 3.41446579e-04 9.87478118e-01 -1.62318055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:-23.03, Z:-16.24 [[ 9.37578376e-01 3.14237180e-01 1.49002627e-01 1.02755120e+02] [-3.10257443e-01 9.49344369e-01 -4.98556850e-02 -2.30348843e+01] [-1.57121314e-01 5.14438303e-04 9.87579176e-01 -1.62372887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:-23.05, Z:-16.24 [[ 9.37866584e-01 3.13525114e-01 1.48688515e-01 1.02784043e+02] [-3.09548368e-01 9.49579678e-01 -4.97819595e-02 -2.30464010e+01] [-1.56799487e-01 6.62549037e-04 9.87630235e-01 -1.62430537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.81, Y:-23.06, Z:-16.25 [[ 9.38252025e-01 3.12574240e-01 1.48258161e-01 1.02813344e+02] [-3.08605767e-01 9.49892964e-01 -4.96572045e-02 -2.30582553e+01] [-1.56350947e-01 8.37649270e-04 9.87701210e-01 -1.62492923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:-23.07, Z:-16.25 [[ 9.38660454e-01 3.11367327e-01 1.48212482e-01 1.02842310e+02] [-3.07381638e-01 9.50289034e-01 -4.96717208e-02 -2.30745463e+01] [-1.56310848e-01 1.06708446e-03 9.87707335e-01 -1.62548536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:-23.09, Z:-16.26 [[ 9.38653665e-01 3.11117458e-01 1.48779114e-01 1.02872463e+02] [-3.07092810e-01 9.50370780e-01 -4.98937584e-02 -2.30874117e+01] [-1.56918141e-01 1.14396314e-03 9.87610950e-01 -1.62597508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:-23.10, Z:-16.26 [[ 9.38624677e-01 3.10907932e-01 1.49398707e-01 1.02901679e+02] [-3.06841651e-01 9.50439257e-01 -5.01340255e-02 -2.30996757e+01] [-1.57581462e-01 1.21528773e-03 9.87505244e-01 -1.62648358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.93, Y:-23.11, Z:-16.27 [[ 9.38659712e-01 3.10705183e-01 1.49600247e-01 1.02931542e+02] [-3.06620539e-01 9.50505472e-01 -5.02313998e-02 -2.31118541e+01] [-1.57803009e-01 1.27968308e-03 9.87469783e-01 -1.62704282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:-23.13, Z:-16.28 [[ 9.38219660e-01 3.11657237e-01 1.50378312e-01 1.02959362e+02] [-3.07536469e-01 9.50193889e-01 -5.05261706e-02 -2.31268168e+01] [-1.58635400e-01 1.15783143e-03 9.87336553e-01 -1.62753743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.99, Y:-23.14, Z:-16.28 [[ 9.38055722e-01 3.12255272e-01 1.50160272e-01 1.02988379e+02] [-3.08149156e-01 9.49997615e-01 -5.04839545e-02 -2.31383128e+01] [-1.58415781e-01 1.08500122e-03 9.87371897e-01 -1.62809733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:-23.15, Z:-16.29 [[ 9.37701204e-01 3.13514206e-01 1.49750775e-01 1.03018647e+02] [-3.09441823e-01 9.49583085e-01 -5.03758109e-02 -2.31508695e+01] [-1.57994335e-01 8.98305641e-04 9.87439610e-01 -1.62863749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:-23.16, Z:-16.29 [[ 9.37244484e-01 3.14877081e-01 1.49750461e-01 1.03047731e+02] [-3.10816712e-01 9.49132200e-01 -5.04087112e-02 -2.31627288e+01] [-1.58005532e-01 7.00340669e-04 9.87437978e-01 -1.62921978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:103.08, Y:-23.18, Z:-16.30 [[ 9.36508967e-01 3.16853334e-01 1.50182953e-01 1.03076288e+02] [-3.12789611e-01 9.48474463e-01 -5.05851042e-02 -2.31768013e+01] [-1.58472755e-01 3.97736118e-04 9.87363270e-01 -1.62978403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.11, Y:-23.19, Z:-16.30 [[ 9.36041550e-01 3.18153612e-01 1.50347916e-01 1.03106258e+02] [-3.14092697e-01 9.48039153e-01 -5.06709146e-02 -2.31894388e+01] [-1.58656846e-01 2.06898921e-04 9.87333764e-01 -1.63032058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:-23.20, Z:-16.31 [[ 9.35567792e-01 3.19422839e-01 1.50605302e-01 1.03136557e+02] [-3.15358970e-01 9.47612289e-01 -5.07904595e-02 -2.32019994e+01] [-1.58939067e-01 2.31852832e-05 9.87288394e-01 -1.63086794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.16, Y:-23.22, Z:-16.31 [[ 9.34958744e-01 3.21077242e-01 1.50869323e-01 1.03164955e+02] [-3.17015082e-01 9.47052983e-01 -5.09125185e-02 -2.32155681e+01] [-1.59228094e-01 -2.26746478e-04 9.87241796e-01 -1.63138553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:-23.23, Z:-16.32 [[ 9.34588988e-01 3.22041760e-01 1.51104364e-01 1.03195663e+02] [-3.17974440e-01 9.46725395e-01 -5.10223684e-02 -2.32279581e+01] [-1.59485672e-01 -3.62381933e-04 9.87200177e-01 -1.63190899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41587156000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:103.22, Y:-23.24, Z:-16.33 [[ 9.34449270e-01 3.22533590e-01 1.50919335e-01 1.03224700e+02] [-3.18477439e-01 9.46557928e-01 -5.09922503e-02 -2.32387733e+01] [-1.59300606e-01 -4.14732151e-04 9.87230036e-01 -1.63250658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:-23.25, Z:-16.33 [[ 9.34187467e-01 3.23312309e-01 1.50873881e-01 1.03254370e+02] [-3.19263886e-01 9.46292176e-01 -5.10067537e-02 -2.32516397e+01] [-1.59261885e-01 -5.18711713e-04 9.87236235e-01 -1.63311030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:-23.26, Z:-16.34 [[ 9.34024111e-01 3.23576571e-01 1.51318083e-01 1.03284942e+02] [-3.19502369e-01 9.46201837e-01 -5.11890534e-02 -2.32641199e+01] [-1.59741026e-01 -5.34675834e-04 9.87158811e-01 -1.63365030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50587156 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:103.31, Y:-23.28, Z:-16.34 [[ 9.34033170e-01 3.23265063e-01 1.51926746e-01 1.03314206e+02] [-3.19148273e-01 9.46308351e-01 -5.14284411e-02 -2.32753131e+01] [-1.60394567e-01 -4.51288839e-04 9.87052876e-01 -1.63426176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:-23.29, Z:-16.35 [[ 9.33832127e-01 3.23766305e-01 1.52095163e-01 1.03343330e+02] [-3.19641784e-01 9.46136947e-01 -5.15170649e-02 -2.32877340e+01] [-1.60582343e-01 -5.07679015e-04 9.87022317e-01 -1.63472291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.37, Y:-23.30, Z:-16.35 [[ 9.33699183e-01 3.24052524e-01 1.52301663e-01 1.03373111e+02] [-3.19917265e-01 9.46038938e-01 -5.16068962e-02 -2.33000042e+01] [-1.60806648e-01 -5.38614604e-04 9.86985781e-01 -1.63532012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:-23.31, Z:-16.36 [[ 9.33540140e-01 3.24535799e-01 1.52247570e-01 1.03403224e+02] [-3.20404560e-01 9.45873230e-01 -5.16212311e-02 -2.33113656e+01] [-1.60759838e-01 -5.90324174e-04 9.86993377e-01 -1.63585893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:-23.32, Z:-16.36 [[ 9.33358118e-01 3.25323341e-01 1.51681732e-01 1.03432357e+02] [-3.21228030e-01 9.45602583e-01 -5.14617114e-02 -2.33221156e+01] [-1.60172333e-01 -6.92217701e-04 9.87088823e-01 -1.63640603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:-23.33, Z:-16.37 [[ 9.32978349e-01 3.26895227e-01 1.50635024e-01 1.03462711e+02] [-3.22871959e-01 9.45060132e-01 -5.11375016e-02 -2.33323880e+01] [-1.59075761e-01 -9.25643336e-04 9.87265945e-01 -1.63701135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:-23.34, Z:-16.38 [[ 9.32648039e-01 3.28002232e-01 1.50273654e-01 1.03492090e+02] [-3.24010577e-01 9.44676308e-01 -5.10276309e-02 -2.33425376e+01] [-1.58697137e-01 -1.09943336e-03 9.87326699e-01 -1.63758312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:-23.35, Z:-16.38 [[ 9.32257260e-01 3.29177084e-01 1.50129440e-01 1.03522785e+02] [-3.25203512e-01 9.44267354e-01 -5.10082426e-02 -2.33533930e+01] [-1.58553073e-01 -1.26981656e-03 9.87349639e-01 -1.63819117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:-23.36, Z:-16.39 [[ 9.31237101e-01 3.31700634e-01 1.50904445e-01 1.03553754e+02] [-3.27713442e-01 9.43383206e-01 -5.13032733e-02 -2.33640318e+01] [-1.59378048e-01 -1.67790372e-03 9.87216198e-01 -1.63866287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.58, Y:-23.37, Z:-16.39 [[ 9.30694941e-01 3.33067235e-01 1.51238698e-01 1.03584444e+02] [-3.29075057e-01 9.42901193e-01 -5.14484865e-02 -2.33734970e+01] [-1.59738954e-01 -1.88603699e-03 9.87157490e-01 -1.63929311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.61, Y:-23.38, Z:-16.40 [[ 9.30134780e-01 3.34452417e-01 1.51627411e-01 1.03614777e+02] [-3.30452473e-01 9.42410303e-01 -5.16137881e-02 -2.33825889e+01] [-1.60157590e-01 -2.09787339e-03 9.87089229e-01 -1.63979289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:-23.39, Z:-16.40 [[ 9.29437768e-01 3.36116633e-01 1.52220380e-01 1.03645995e+02] [-3.32102297e-01 9.41817401e-01 -5.18463827e-02 -2.33910653e+01] [-1.60790234e-01 -2.36475168e-03 9.86985769e-01 -1.64030794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:-23.40, Z:-16.41 [[ 9.29381119e-01 3.36023871e-01 1.52770067e-01 1.03676229e+02] [-3.31973576e-01 9.41850599e-01 -5.20672034e-02 -2.34009860e+01] [-1.61382403e-01 -2.32534987e-03 9.86889210e-01 -1.64084334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:-23.41, Z:-16.41 [[ 9.29519464e-01 3.35374476e-01 1.53354253e-01 1.03706782e+02] [-3.31280894e-01 9.42082327e-01 -5.22863098e-02 -2.34110443e+01] [-1.62007825e-01 -2.20219118e-03 9.86787016e-01 -1.64140780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:-23.42, Z:-16.42 [[ 9.29772171e-01 3.34412274e-01 1.53922515e-01 1.03737131e+02] [-3.30269685e-01 9.42424737e-01 -5.25123790e-02 -2.34212683e+01] [-1.62621170e-01 -2.01139195e-03 9.86686530e-01 -1.64196383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:-23.43, Z:-16.43 [[ 9.30887983e-01 3.31350194e-01 1.53800558e-01 1.03766582e+02] [-3.27167302e-01 9.43506738e-01 -5.25032624e-02 -2.34340718e+01] [-1.62508829e-01 -1.44385755e-03 9.86706033e-01 -1.64258840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:-23.45, Z:-16.43 [[ 9.31540412e-01 3.29647615e-01 1.53508666e-01 1.03796594e+02] [-3.25452207e-01 9.44103391e-01 -5.24370896e-02 -2.34451294e+01] [-1.62213813e-01 -1.11246596e-03 9.86755006e-01 -1.64309160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:-23.45, Z:-16.44 [[ 9.32686010e-01 3.26777577e-01 1.52686680e-01 1.03827315e+02] [-3.22583980e-01 9.45101095e-01 -5.21871334e-02 -2.34546533e+01] [-1.61357933e-01 -5.80067698e-04 9.86895780e-01 -1.64371582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:-23.47, Z:-16.44 [[ 9.33218010e-01 3.25635118e-01 1.51874669e-01 1.03856733e+02] [-3.21465932e-01 9.45495451e-01 -5.19423404e-02 -2.34652290e+01] [-1.60511059e-01 -3.49004395e-04 9.87033980e-01 -1.64431954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:-23.48, Z:-16.45 [[ 9.33508650e-01 3.24913701e-01 1.51633401e-01 1.03887136e+02] [-3.20743426e-01 9.45743649e-01 -5.18903216e-02 -2.34768535e+01] [-1.60266202e-01 -1.95352579e-04 9.87073810e-01 -1.64490626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:-23.49, Z:-16.45 [[ 9.33493604e-01 3.24732109e-01 1.52114260e-01 1.03917348e+02] [-3.20527566e-01 9.45806026e-01 -5.20868518e-02 -2.34879977e+01] [-1.60784857e-01 -1.34070499e-04 9.86989469e-01 -1.64541024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:-23.50, Z:-16.46 [[ 9.33333521e-01 3.24962074e-01 1.52604685e-01 1.03946605e+02] [-3.20727653e-01 9.45727038e-01 -5.22890277e-02 -2.34989017e+01] [-1.61314328e-01 -1.41440112e-04 9.86903069e-01 -1.64587536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:-23.51, Z:-16.46 [[ 9.33163757e-01 3.25241524e-01 1.53046902e-01 1.03975778e+02] [-3.20982725e-01 9.45630965e-01 -5.24611076e-02 -2.35098666e+01] [-1.61788420e-01 -1.70607421e-04 9.86825455e-01 -1.64639275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:-23.52, Z:-16.47 [[ 9.33018861e-01 3.25282249e-01 1.53841686e-01 1.04005934e+02] [-3.20974363e-01 9.45616961e-01 -5.27638308e-02 -2.35212683e+01] [-1.62638445e-01 -1.49587742e-04 9.86685722e-01 -1.64697190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:-23.53, Z:-16.47 [[ 9.32893167e-01 3.25443993e-01 1.54261296e-01 1.04036493e+02] [-3.21109270e-01 9.45561307e-01 -5.29400682e-02 -2.35321231e+01] [-1.63092540e-01 -1.47304198e-04 9.86610765e-01 -1.64749419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:-23.54, Z:-16.48 [[ 9.32771313e-01 3.25693359e-01 1.54471722e-01 1.04067243e+02] [-3.21344771e-01 9.45475441e-01 -5.30445866e-02 -2.35436429e+01] [-1.63325489e-01 -1.60211331e-04 9.86572227e-01 -1.64810815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:-23.56, Z:-16.49 [[ 9.32726114e-01 3.25886820e-01 1.54336570e-01 1.04097195e+02] [-3.21543047e-01 9.45408776e-01 -5.30312647e-02 -2.35556942e+01] [-1.63193338e-01 -1.62205622e-04 9.86594095e-01 -1.64866260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:104.13, Y:-23.57, Z:-16.49 [[ 9.32718904e-01 3.25668703e-01 1.54839727e-01 1.04127049e+02] [-3.21287863e-01 9.45483943e-01 -5.32374094e-02 -2.35674684e+01] [-1.63736233e-01 -9.25867697e-05 9.86504150e-01 -1.64932173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:-23.58, Z:-16.50 [[ 9.32735903e-01 3.25646943e-01 1.54783086e-01 1.04155517e+02] [-3.21263431e-01 9.45491441e-01 -5.32516881e-02 -2.35806730e+01] [-1.63687332e-01 -5.63837380e-05 9.86512268e-01 -1.64978500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:-23.59, Z:-16.50 [[ 9.32731442e-01 3.25751320e-01 1.54590216e-01 1.04184974e+02] [-3.21375029e-01 9.45455486e-01 -5.32166766e-02 -2.35924496e+01] [-1.63493571e-01 -4.45677800e-05 9.86544399e-01 -1.65034489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:-23.60, Z:-16.51 [[ 9.32774828e-01 3.25751946e-01 1.54326895e-01 1.04215586e+02] [-3.21385829e-01 9.45455271e-01 -5.31552430e-02 -2.36049236e+01] [-1.63224600e-01 -1.66044578e-05 9.86588936e-01 -1.65089965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:-23.62, Z:-16.51 [[ 9.32713687e-01 3.26151779e-01 1.53851212e-01 1.04244255e+02] [-3.21812853e-01 9.45317414e-01 -5.30233299e-02 -2.36170229e+01] [-1.62731883e-01 -5.57120242e-05 9.86670325e-01 -1.65143549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:-23.63, Z:-16.52 [[ 9.32551534e-01 3.27053892e-01 1.52916279e-01 1.04274095e+02] [-3.22775125e-01 9.45005671e-01 -5.27304537e-02 -2.36302794e+01] [-1.61752451e-01 -1.83705411e-04 9.86831349e-01 -1.65200303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:-23.64, Z:-16.53 [[ 9.32230346e-01 3.27852943e-01 1.53163408e-01 1.04304333e+02] [-3.23565620e-01 9.44728724e-01 -5.28481475e-02 -2.36418825e+01] [-1.62024292e-01 -2.91766259e-04 9.86786727e-01 -1.65259882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:-23.65, Z:-16.53 [[ 9.32202964e-01 3.27935675e-01 1.53152952e-01 1.04335497e+02] [-3.23644486e-01 9.44700015e-01 -5.28784322e-02 -2.36527702e+01] [-1.62024320e-01 -2.73677048e-04 9.86786727e-01 -1.65316662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:-23.66, Z:-16.54 [[ 9.31784829e-01 3.29011770e-01 1.53389336e-01 1.04365454e+02] [-3.24719459e-01 9.44325714e-01 -5.29737544e-02 -2.36648062e+01] [-1.62278483e-01 -4.48361483e-04 9.86744898e-01 -1.65377467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:-23.68, Z:-16.54 [[ 9.31299413e-01 3.30213646e-01 1.53754188e-01 1.04395994e+02] [-3.25911519e-01 9.43906009e-01 -5.31331140e-02 -2.36770746e+01] [-1.62674782e-01 -6.27423098e-04 9.86679544e-01 -1.65434740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.43, Y:-23.69, Z:-16.55 [[ 9.30597732e-01 3.32026387e-01 1.54098473e-01 1.04426186e+02] [-3.27723943e-01 9.43269655e-01 -5.32857850e-02 -2.36900753e+01] [-1.63048700e-01 -9.14128567e-04 9.86617599e-01 -1.65501070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:-23.70, Z:-16.55 [[ 9.30254016e-01 3.32895187e-01 1.54299256e-01 1.04455722e+02] [-3.28587651e-01 9.42963267e-01 -5.33894379e-02 -2.37018685e+01] [-1.63271617e-01 -1.03509109e-03 9.86580614e-01 -1.65544847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:-23.71, Z:-16.56 [[ 9.29850330e-01 3.33925758e-01 1.54505506e-01 1.04485011e+02] [-3.29615448e-01 9.42598631e-01 -5.34927781e-02 -2.37137459e+01] [-1.63499295e-01 -1.18712412e-03 9.86542737e-01 -1.65599255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:-23.73, Z:-16.57 [[ 9.29478840e-01 3.35025892e-01 1.54359115e-01 1.04515033e+02] [-3.30733736e-01 9.42207955e-01 -5.34730402e-02 -2.37257999e+01] [-1.63353239e-01 -1.34970759e-03 9.86566722e-01 -1.65657970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:-23.74, Z:-16.57 [[ 9.28802571e-01 3.37006276e-01 1.54118639e-01 1.04543823e+02] [-3.32749199e-01 9.41500930e-01 -5.34225515e-02 -2.37382480e+01] [-1.63106577e-01 -1.66385052e-03 9.86607053e-01 -1.65714691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.57, Y:-23.75, Z:-16.58 [[ 9.28489518e-01 3.37911603e-01 1.54022608e-01 1.04574467e+02] [-3.33667181e-01 9.41176145e-01 -5.34198148e-02 -2.37495376e+01] [-1.63013580e-01 -1.79255137e-03 9.86622197e-01 -1.65777601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:-23.76, Z:-16.58 [[ 9.28099696e-01 3.39035031e-01 1.53903223e-01 1.04603405e+02] [-3.34807135e-01 9.40771714e-01 -5.34112747e-02 -2.37612668e+01] [-1.62896092e-01 -1.95690947e-03 9.86641289e-01 -1.65829643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:-23.77, Z:-16.59 [[ 9.27795255e-01 3.40181108e-01 1.53208288e-01 1.04632114e+02] [-3.36002071e-01 9.40357551e-01 -5.32004277e-02 -2.37731257e+01] [-1.62168350e-01 -2.11919752e-03 9.86760830e-01 -1.65885262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:-23.79, Z:-16.59 [[ 9.27113227e-01 3.42285329e-01 1.52649328e-01 1.04662318e+02] [-3.38160358e-01 9.39592866e-01 -5.30360167e-02 -2.37864883e+01] [-1.61581670e-01 -2.44955892e-03 9.86856303e-01 -1.65937763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:-23.80, Z:-16.60 [[ 9.26660684e-01 3.43469527e-01 1.52737227e-01 1.04693211e+02] [-3.39350415e-01 9.39160149e-01 -5.30990622e-02 -2.37973823e+01] [-1.61682627e-01 -2.62662812e-03 9.86839313e-01 -1.65995719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:-23.81, Z:-16.61 [[ 9.26164172e-01 3.44613894e-01 1.53170463e-01 1.04723738e+02] [-3.40481211e-01 9.38740332e-01 -5.32835273e-02 -2.38077058e+01] [-1.62149535e-01 -2.80237081e-03 9.86762218e-01 -1.66051998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:-23.82, Z:-16.61 [[ 9.25466510e-01 3.46261565e-01 1.53670648e-01 1.04754337e+02] [-3.42118643e-01 9.38132991e-01 -5.34913564e-02 -2.38191801e+01] [-1.62685505e-01 -3.06913453e-03 9.86673202e-01 -1.66110818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:-23.83, Z:-16.62 [[ 9.25272544e-01 3.46615352e-01 1.54040635e-01 1.04785186e+02] [-3.42451590e-01 9.38002210e-01 -5.36541057e-02 -2.38306546e+01] [-1.63087793e-01 -3.10678954e-03 9.86606669e-01 -1.66166081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:-23.84, Z:-16.62 [[ 9.25173400e-01 3.46619559e-01 1.54625550e-01 1.04815126e+02] [-3.42418348e-01 9.38000719e-01 -5.38917943e-02 -2.38412041e+01] [-1.63718827e-01 -3.08737085e-03 9.86502212e-01 -1.66219576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:-23.85, Z:-16.63 [[ 9.25322583e-01 3.46105358e-01 1.54884470e-01 1.04846055e+02] [-3.41877592e-01 9.38190946e-01 -5.40135315e-02 -2.38520984e+01] [-1.64005580e-01 -2.97158904e-03 9.86454935e-01 -1.66276006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:104.88, Y:-23.86, Z:-16.63 [[ 9.26123862e-01 3.43975686e-01 1.54839660e-01 1.04876180e+02] [-3.39715346e-01 9.38975059e-01 -5.40307429e-02 -2.38646266e+01] [-1.63975841e-01 -2.56224836e-03 9.86461027e-01 -1.66345505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.91, Y:-23.88, Z:-16.64 [[ 9.26631060e-01 3.42701303e-01 1.54630837e-01 1.04905691e+02] [-3.38429441e-01 9.39441599e-01 -5.39907075e-02 -2.38767261e+01] [-1.63769326e-01 -2.30216103e-03 9.86495975e-01 -1.66394849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:-23.89, Z:-16.64 [[ 9.27235309e-01 3.41144700e-01 1.54450561e-01 1.04934891e+02] [-3.36856310e-01 9.40008677e-01 -5.39584521e-02 -2.38881872e+01] [-1.63592507e-01 -1.99546386e-03 9.86525980e-01 -1.66446345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.96, Y:-23.90, Z:-16.65 [[ 9.28482254e-01 3.37830528e-01 1.54244089e-01 1.04964858e+02] [-3.33503185e-01 9.41205944e-01 -5.39165731e-02 -2.39003375e+01] [-1.63390117e-01 -1.38031354e-03 9.86560573e-01 -1.66515431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:-23.91, Z:-16.66 [[ 9.29002907e-01 3.36255373e-01 1.54550713e-01 1.04995259e+02] [-3.31883583e-01 9.41770232e-01 -5.40566072e-02 -2.39124301e+01] [-1.63728085e-01 -1.07409914e-03 9.86504922e-01 -1.66565143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:-23.92, Z:-16.66 [[ 9.29404710e-01 3.35106784e-01 1.54629648e-01 1.05025251e+02] [-3.30709191e-01 9.42179780e-01 -5.41174069e-02 -2.39249279e+01] [-1.63824038e-01 -8.40472798e-04 9.86489219e-01 -1.66621794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24587156000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.05, Y:-23.94, Z:-16.67 [[ 9.30299681e-01 3.32779629e-01 1.54273203e-01 1.05053349e+02] [-3.28365004e-01 9.43004539e-01 -5.40265052e-02 -2.39387245e+01] [-1.63459251e-01 -3.97080499e-04 9.86550007e-01 -1.66674623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:-23.95, Z:-16.67 [[ 9.30454014e-01 3.32079790e-01 1.54849418e-01 1.05083440e+02] [-3.27616996e-01 9.43251267e-01 -5.42600264e-02 -2.39518043e+01] [-1.64080568e-01 -2.44841707e-04 9.86446911e-01 -1.66724491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:-23.97, Z:-16.68 [[ 9.30448336e-01 3.31841580e-01 1.55393244e-01 1.05113315e+02] [-3.27338433e-01 9.43335113e-01 -5.44831528e-02 -2.39653692e+01] [-1.64667679e-01 -1.72422203e-04 9.86349089e-01 -1.66775693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.14, Y:-23.98, Z:-16.68 [[ 9.30432658e-01 3.31747881e-01 1.55686902e-01 1.05142658e+02] [-3.27220822e-01 9.43368076e-01 -5.46187352e-02 -2.39782859e+01] [-1.64989703e-01 -1.24940935e-04 9.86295282e-01 -1.66834803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:-23.99, Z:-16.69 [[ 9.30195841e-01 3.32089781e-01 1.56371589e-01 1.05171697e+02] [-3.27521784e-01 9.43247769e-01 -5.48919621e-02 -2.39930851e+01] [-1.65726212e-01 -1.54827115e-04 9.86171790e-01 -1.66881463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:-24.01, Z:-16.69 [[ 9.29953874e-01 3.32716550e-01 1.56478398e-01 1.05200470e+02] [-3.28145457e-01 9.43026851e-01 -5.49628645e-02 -2.40051898e+01] [-1.65850386e-01 -2.34746834e-04 9.86150898e-01 -1.66932824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:-24.02, Z:-16.70 [[ 9.29748637e-01 3.33312974e-01 1.56428687e-01 1.05229997e+02] [-3.28747969e-01 9.42816188e-01 -5.49764370e-02 -2.40178736e+01] [-1.65807858e-01 -3.11345632e-04 9.86158029e-01 -1.66997307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:-24.03, Z:-16.71 [[ 9.29519552e-01 3.34823294e-01 1.54553432e-01 1.05258931e+02] [-3.30383122e-01 9.42280779e-01 -5.43500273e-02 -2.40336540e+01] [-1.63830384e-01 -5.42432367e-04 9.86488374e-01 -1.67058944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:-24.05, Z:-16.71 [[ 9.29304421e-01 3.35659171e-01 1.54033156e-01 1.05287344e+02] [-3.31254960e-01 9.41983275e-01 -5.42001874e-02 -2.40464221e+01] [-1.63289447e-01 -6.55773254e-04 9.86577988e-01 -1.67118020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:-24.06, Z:-16.72 [[ 9.29043193e-01 3.36612514e-01 1.53527720e-01 1.05316892e+02] [-3.32245208e-01 9.41642920e-01 -5.40530539e-02 -2.40593452e+01] [-1.62763225e-01 -7.91227471e-04 9.86664840e-01 -1.67170368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:-24.07, Z:-16.72 [[ 9.28491515e-01 3.37950480e-01 1.53925240e-01 1.05346293e+02] [-3.33573049e-01 9.41163366e-01 -5.42267477e-02 -2.40720695e+01] [-1.63194752e-01 -9.96236495e-04 9.86593371e-01 -1.67226327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:-24.09, Z:-16.73 [[ 9.27142396e-01 3.41285338e-01 1.54697432e-01 1.05376317e+02] [-3.36906240e-01 9.39958429e-01 -5.45191465e-02 -2.40862783e+01] [-1.64015740e-01 -1.57151798e-03 9.86456470e-01 -1.67278431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:-24.10, Z:-16.73 [[ 9.26331217e-01 3.43540872e-01 1.54564371e-01 1.05405560e+02] [-3.39195074e-01 9.39135727e-01 -5.45049354e-02 -2.40980496e+01] [-1.63881596e-01 -1.93785020e-03 9.86478113e-01 -1.67328486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:-24.11, Z:-16.74 [[ 9.25425626e-01 3.45852258e-01 1.54834189e-01 1.05435747e+02] [-3.41518193e-01 9.38286110e-01 -5.46305805e-02 -2.41101229e+01] [-1.64172878e-01 -2.32215329e-03 9.86428849e-01 -1.67388864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:-24.12, Z:-16.74 [[ 9.24440096e-01 3.48303299e-01 1.55226675e-01 1.05465887e+02] [-3.43975935e-01 9.37377907e-01 -5.48016059e-02 -2.41222175e+01] [-1.64593636e-01 -2.73343902e-03 9.86357675e-01 -1.67441571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:-24.13, Z:-16.75 [[ 9.22343806e-01 3.53820439e-01 1.55219203e-01 1.05494637e+02] [-3.49565459e-01 9.35306106e-01 -5.48313615e-02 -2.41346753e+01] [-1.64577924e-01 -3.68590520e-03 9.86357197e-01 -1.67499152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:-24.15, Z:-16.76 [[ 9.21301034e-01 3.56566068e-01 1.55129122e-01 1.05524917e+02] [-3.52349631e-01 9.34260915e-01 -5.48295586e-02 -2.41462786e+01] [-1.64481435e-01 -4.14515984e-03 9.86371469e-01 -1.67557839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:-24.16, Z:-16.76 [[ 9.20293237e-01 3.59305603e-01 1.54789670e-01 1.05555019e+02] [-3.55140642e-01 9.33208652e-01 -5.47424551e-02 -2.41573567e+01] [-1.64120330e-01 -4.59299165e-03 9.86429633e-01 -1.67614181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:-24.17, Z:-16.77 [[ 9.18383337e-01 3.64241649e-01 1.54596468e-01 1.05586192e+02] [-3.60150920e-01 9.31288607e-01 -5.47069034e-02 -2.41671727e+01] [-1.63900462e-01 -5.43615197e-03 9.86461903e-01 -1.67671475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:-24.18, Z:-16.77 [[ 9.17645746e-01 3.66314406e-01 1.54078034e-01 1.05616674e+02] [-3.62274733e-01 9.30473338e-01 -5.45562523e-02 -2.41765860e+01] [-1.63350244e-01 -5.75526587e-03 9.86551354e-01 -1.67725830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:-24.19, Z:-16.78 [[ 9.16987032e-01 3.68099845e-01 1.53744228e-01 1.05648008e+02] [-3.64099360e-01 9.29766642e-01 -5.44577576e-02 -2.41868219e+01] [-1.62992147e-01 -6.04111740e-03 9.86608871e-01 -1.67781500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:-24.20, Z:-16.78 [[ 9.16536341e-01 3.69156245e-01 1.53898674e-01 1.05678774e+02] [-3.65157456e-01 9.29346620e-01 -5.45425787e-02 -2.41972214e+01] [-1.63159946e-01 -6.20699276e-03 9.86580106e-01 -1.67841893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:-24.21, Z:-16.79 [[ 9.15934426e-01 3.70480382e-01 1.54299751e-01 1.05709483e+02] [-3.66474009e-01 9.28818032e-01 -5.47162145e-02 -2.42066345e+01] [-1.63587675e-01 -6.43038377e-03 9.86507842e-01 -1.67895563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:-24.22, Z:-16.79 [[ 9.15765761e-01 3.70780216e-01 1.54580408e-01 1.05740020e+02] [-3.66758193e-01 9.28698130e-01 -5.48471648e-02 -2.42154600e+01] [-1.63894779e-01 -6.46647532e-03 9.86456632e-01 -1.67949130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:-24.22, Z:-16.80 [[ 9.15683260e-01 3.70757203e-01 1.55123381e-01 1.05771454e+02] [-3.66701522e-01 9.28707375e-01 -5.50690907e-02 -2.42244528e+01] [-1.64481490e-01 -6.45813541e-03 9.86359028e-01 -1.68006812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:-24.23, Z:-16.81 [[ 9.15844780e-01 3.70378060e-01 1.55075565e-01 1.05801746e+02] [-3.66314037e-01 9.28859343e-01 -5.50849032e-02 -2.42335429e+01] [-1.64445627e-01 -6.35713516e-03 9.86365664e-01 -1.68062326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:-24.24, Z:-16.81 [[ 9.16543294e-01 3.68734114e-01 1.54866210e-01 1.05833041e+02] [-3.64652758e-01 9.29515386e-01 -5.50410049e-02 -2.42409292e+01] [-1.64246021e-01 -6.02492662e-03 9.86401006e-01 -1.68121982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:-24.25, Z:-16.82 [[ 9.17008009e-01 3.67566580e-01 1.54890672e-01 1.05863625e+02] [-3.63461864e-01 9.29979215e-01 -5.50829748e-02 -2.42501065e+01] [-1.64291766e-01 -5.78532320e-03 9.86394822e-01 -1.68181357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:105.89, Y:-24.26, Z:-16.82 [[ 9.17710358e-01 3.66009261e-01 1.54418004e-01 1.05894380e+02] [-3.61902739e-01 9.30595189e-01 -5.49454456e-02 -2.42597993e+01] [-1.63811194e-01 -5.46029418e-03 9.86476598e-01 -1.68235773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.93, Y:-24.27, Z:-16.83 [[ 9.19122001e-01 3.62436199e-01 1.54449827e-01 1.05925000e+02] [-3.58272352e-01 9.31996262e-01 -5.49899078e-02 -2.42696838e+01] [-1.63876995e-01 -4.79266873e-03 9.86469138e-01 -1.68286382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:-24.28, Z:-16.83 [[ 9.19798897e-01 3.60625562e-01 1.54658309e-01 1.05955008e+02] [-3.56422631e-01 9.32699999e-01 -5.50783093e-02 -2.42792837e+01] [-1.64112451e-01 -4.46275324e-03 9.86431542e-01 -1.68339410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:-24.29, Z:-16.84 [[ 9.20536011e-01 3.58875327e-01 1.54343618e-01 1.05984336e+02] [-3.54626402e-01 9.33377268e-01 -5.51995542e-02 -2.42885217e+01] [-1.63870583e-01 -3.92114451e-03 9.86474053e-01 -1.68389879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:-24.30, Z:-16.84 [[ 9.22456849e-01 3.53869044e-01 1.54434651e-01 1.06015596e+02] [-3.49640858e-01 9.35288136e-01 -5.46568725e-02 -2.42984963e+01] [-1.63782272e-01 -3.57805754e-03 9.86490023e-01 -1.68448431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:-24.31, Z:-16.85 [[ 9.23296933e-01 3.51604399e-01 1.54586937e-01 1.06046773e+02] [-3.47263181e-01 9.36144603e-01 -5.51503891e-02 -2.43089933e+01] [-1.64106846e-01 -2.76216646e-03 9.86438702e-01 -1.68508934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:-24.32, Z:-16.86 [[ 9.24097216e-01 3.49325661e-01 1.54970700e-01 1.06076408e+02] [-3.44925271e-01 9.36998478e-01 -5.53209742e-02 -2.43190831e+01] [-1.64532346e-01 -2.33135231e-03 9.86368933e-01 -1.68562590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.11, Y:-24.33, Z:-16.86 [[ 9.24929913e-01 3.47133166e-01 1.54929730e-01 1.06105860e+02] [-3.42699268e-01 9.37813902e-01 -5.53380230e-02 -2.43289950e+01] [-1.64504918e-01 -1.91051224e-03 9.86374413e-01 -1.68615417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32587156000001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:106.14, Y:-24.34, Z:-16.87 [[ 9.26396894e-01 3.43266304e-01 1.54780618e-01 1.06136340e+02] [-3.38784045e-01 9.39237348e-01 -5.53043803e-02 -2.43399469e+01] [-1.64359867e-01 -1.20339761e-03 9.86399709e-01 -1.68672476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:-24.35, Z:-16.87 [[ 9.27016754e-01 3.41647702e-01 1.54650527e-01 1.06167047e+02] [-3.37145213e-01 9.39827679e-01 -5.52905031e-02 -2.43507250e+01] [-1.64234719e-01 -8.84462193e-04 9.86420891e-01 -1.68729952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.20, Y:-24.36, Z:-16.88 [[ 9.27734622e-01 3.39769628e-01 1.54483241e-01 1.06197770e+02] [-3.35245473e-01 9.40508549e-01 -5.52642940e-02 -2.43619052e+01] [-1.64069938e-01 -5.19208417e-04 9.86448572e-01 -1.68782991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.23, Y:-24.37, Z:-16.88 [[ 9.27705905e-01 3.39853022e-01 1.54472252e-01 1.06228806e+02] [-3.35324903e-01 9.40478428e-01 -5.52949935e-02 -2.43731395e+01] [-1.64069991e-01 -5.00900961e-04 9.86448573e-01 -1.68839777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:-24.38, Z:-16.89 [[ 9.27722292e-01 3.39605434e-01 1.54917713e-01 1.06258184e+02] [-3.35045137e-01 9.40567888e-01 -5.54689487e-02 -2.43836373e+01] [-1.64548182e-01 -4.44646134e-04 9.86368946e-01 -1.68890966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:-24.39, Z:-16.89 [[ 9.27563968e-01 3.40013621e-01 1.54970391e-01 1.06288451e+02] [-3.35450557e-01 9.40420385e-01 -5.55195779e-02 -2.43948395e+01] [-1.64614728e-01 -4.86944050e-04 9.86357823e-01 -1.68948595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:-24.41, Z:-16.90 [[ 9.27342365e-01 3.40616154e-01 1.54973462e-01 1.06318123e+02] [-3.36055642e-01 9.40202276e-01 -5.55543497e-02 -2.44056356e+01] [-1.64629110e-01 -5.61804082e-04 9.86355382e-01 -1.69003068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.35, Y:-24.42, Z:-16.91 [[ 9.26634984e-01 3.42879311e-01 1.54212139e-01 1.06348565e+02] [-3.38389748e-01 9.39379005e-01 -5.53124268e-02 -2.44168320e+01] [-1.63829132e-01 -9.29376903e-04 9.86488293e-01 -1.69060633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:-24.43, Z:-16.91 [[ 9.26202398e-01 3.44149914e-01 1.53980370e-01 1.06377750e+02] [-3.39685743e-01 9.38914044e-01 -5.52631275e-02 -2.44270887e+01] [-1.63593133e-01 -1.12009527e-03 9.86527259e-01 -1.69121012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:106.41, Y:-24.44, Z:-16.92 [[ 9.25674285e-01 3.45859402e-01 1.53324468e-01 1.06408964e+02] [-3.41453380e-01 9.38285310e-01 -5.50478532e-02 -2.44376537e+01] [-1.62900914e-01 -1.39677575e-03 9.86641445e-01 -1.69178220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:-24.45, Z:-16.92 [[ 9.25083781e-01 3.47492868e-01 1.53194988e-01 1.06439370e+02] [-3.43111173e-01 9.37681171e-01 -5.50340341e-02 -2.44483991e+01] [-1.62771990e-01 -1.65181954e-03 9.86662329e-01 -1.69235867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:-24.46, Z:-16.93 [[ 9.23926977e-01 3.50762236e-01 1.52724574e-01 1.06469067e+02] [-3.46446415e-01 9.36461992e-01 -5.48982591e-02 -2.44586207e+01] [-1.62276995e-01 -2.18889858e-03 9.86742816e-01 -1.69290157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:-24.47, Z:-16.93 [[ 9.23210605e-01 3.52477087e-01 1.53108072e-01 1.06500092e+02] [-3.48157709e-01 9.35817192e-01 -5.50671716e-02 -2.44690845e+01] [-1.62691083e-01 -2.46715890e-03 9.86673971e-01 -1.69347945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:-24.48, Z:-16.94 [[ 9.22606613e-01 3.53958040e-01 1.53332133e-01 1.06531397e+02] [-3.49640869e-01 9.35257402e-01 -5.51802081e-02 -2.44794059e+01] [-1.62936491e-01 -2.70155551e-03 9.86632861e-01 -1.69401683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:-24.49, Z:-16.95 [[ 9.21646704e-01 3.56312929e-01 1.53650416e-01 1.06562435e+02] [-3.52004708e-01 9.34361563e-01 -5.53277105e-02 -2.44898151e+01] [-1.63279021e-01 -3.09306789e-03 9.86575083e-01 -1.69457969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:-24.50, Z:-16.95 [[ 9.21181937e-01 3.57506842e-01 1.53664233e-01 1.06592642e+02] [-3.53208807e-01 9.33904783e-01 -5.53660160e-02 -2.45002608e+01] [-1.63301492e-01 -3.27338670e-03 9.86570782e-01 -1.69510326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:-24.51, Z:-16.96 [[ 9.20627816e-01 3.58780683e-01 1.54015730e-01 1.06623771e+02] [-3.54475382e-01 9.33415408e-01 -5.55236867e-02 -2.45104624e+01] [-1.63681482e-01 -3.47813429e-03 9.86507108e-01 -1.69568250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.66, Y:-24.52, Z:-16.96 [[ 9.20190221e-01 3.59835474e-01 1.54169998e-01 1.06655091e+02] [-3.55530758e-01 9.33008677e-01 -5.56119426e-02 -2.45200987e+01] [-1.63853095e-01 -3.63861031e-03 9.86478040e-01 -1.69621681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:-24.53, Z:-16.97 [[ 9.19353445e-01 3.61830076e-01 1.54493494e-01 1.06686160e+02] [-3.57529489e-01 9.32235608e-01 -5.57623122e-02 -2.45271091e+01] [-1.64200818e-01 -3.97070629e-03 9.86418940e-01 -1.69686762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.72, Y:-24.54, Z:-16.97 [[ 9.18909714e-01 3.62943355e-01 1.54522031e-01 1.06717580e+02] [-3.58651575e-01 9.31802004e-01 -5.58038827e-02 -2.45367406e+01] [-1.64237586e-01 -4.14083993e-03 9.86412119e-01 -1.69746647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:106.75, Y:-24.55, Z:-16.98 [[ 9.18641745e-01 3.63719581e-01 1.54290025e-01 1.06747906e+02] [-3.59446158e-01 9.31498831e-01 -5.57529159e-02 -2.45461974e+01] [-1.63999406e-01 -4.24200091e-03 9.86451317e-01 -1.69799816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:-24.56, Z:-16.99 [[ 9.18295307e-01 3.64580576e-01 1.54320232e-01 1.06778975e+02] [-3.60312471e-01 9.31161600e-01 -5.57942489e-02 -2.45562945e+01] [-1.64038573e-01 -4.36790699e-03 9.86444255e-01 -1.69858099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.81, Y:-24.56, Z:-16.99 [[ 9.18058725e-01 3.65417927e-01 1.53746273e-01 1.06810625e+02] [-3.61187961e-01 9.30832832e-01 -5.56192062e-02 -2.45639230e+01] [-1.63436334e-01 -4.46960517e-03 9.86543759e-01 -1.69911329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:-24.57, Z:-17.00 [[ 9.17962388e-01 3.65583738e-01 1.53927204e-01 1.06841892e+02] [-3.61340629e-01 9.30767703e-01 -5.57174387e-02 -2.45733485e+01] [-1.63639860e-01 -4.47363968e-03 9.86510001e-01 -1.69969156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:-24.58, Z:-17.00 [[ 9.17906447e-01 3.65511009e-01 1.54432694e-01 1.06872750e+02] [-3.61233149e-01 9.30796409e-01 -5.59343906e-02 -2.45828794e+01] [-1.64190032e-01 -4.44367061e-03 9.86418718e-01 -1.70026942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:-24.59, Z:-17.01 [[ 9.18504656e-01 3.64048442e-01 1.54330584e-01 1.06903085e+02] [-3.59750099e-01 9.31370782e-01 -5.59314984e-02 -2.45902445e+01] [-1.64100771e-01 -4.14710107e-03 9.86434863e-01 -1.70082737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10587156000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:106.93, Y:-24.60, Z:-17.01 [[ 9.19080620e-01 3.62768743e-01 1.53914434e-01 1.06934428e+02] [-3.58470654e-01 9.31871128e-01 -5.58120968e-02 -2.45998791e+01] [-1.63675301e-01 -3.87799119e-03 9.86506643e-01 -1.70137595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:-24.61, Z:-17.02 [[ 9.19624331e-01 3.61378960e-01 1.53936147e-01 1.06964509e+02] [-3.57054776e-01 9.32412082e-01 -5.58533461e-02 -2.46096966e+01] [-1.63716147e-01 -3.59954032e-03 9.86500921e-01 -1.70198992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:107.00, Y:-24.62, Z:-17.03 [[ 9.20401914e-01 3.59578870e-01 1.53503595e-01 1.06995122e+02] [-3.55249129e-01 9.33109069e-01 -5.57272031e-02 -2.46197449e+01] [-1.63273922e-01 -3.24059415e-03 9.86575453e-01 -1.70252164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:-24.63, Z:-17.03 [[ 9.21788243e-01 3.56023917e-01 1.53471189e-01 1.07024687e+02] [-3.51641512e-01 9.34473286e-01 -5.57487582e-02 -2.46297147e+01] [-1.63262618e-01 -2.57829116e-03 9.86579277e-01 -1.70313067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:-24.64, Z:-17.04 [[ 9.22423199e-01 3.54348193e-01 1.53534362e-01 1.07055207e+02] [-3.49933965e-01 9.35110839e-01 -5.58026788e-02 -2.46396253e+01] [-1.63345224e-01 -2.25320248e-03 9.86566400e-01 -1.70366863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:-24.65, Z:-17.04 [[ 9.22993140e-01 3.52779231e-01 1.53722080e-01 1.07086073e+02] [-3.48327070e-01 9.35704560e-01 -5.59037399e-02 -2.46493791e+01] [-1.63560130e-01 -1.94679345e-03 9.86531446e-01 -1.70419441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:-24.66, Z:-17.05 [[ 9.23818338e-01 3.50391410e-01 1.54225609e-01 1.07116836e+02] [-3.45871277e-01 9.36602166e-01 -5.61198945e-02 -2.46589012e+01] [-1.64111968e-01 -1.49762070e-03 9.86440581e-01 -1.70473186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:-24.67, Z:-17.05 [[ 9.24061396e-01 3.49644144e-01 1.54465238e-01 1.07146788e+02] [-3.45093848e-01 9.36881631e-01 -5.62409606e-02 -2.46697020e+01] [-1.64379966e-01 -1.33490268e-03 9.86396191e-01 -1.70528809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:107.18, Y:-24.68, Z:-17.06 [[ 9.24308801e-01 3.49048581e-01 1.54331880e-01 1.07177565e+02] [-3.44494534e-01 9.37103851e-01 -5.62128830e-02 -2.46805004e+01] [-1.64246026e-01 -1.20842657e-03 9.86418665e-01 -1.70583015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:-24.69, Z:-17.06 [[ 9.24252394e-01 3.49149015e-01 1.54442474e-01 1.07207652e+02] [-3.44584170e-01 9.37066453e-01 -5.62868826e-02 -2.46914397e+01] [-1.64375371e-01 -1.19514569e-03 9.86397136e-01 -1.70635865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.24, Y:-24.70, Z:-17.07 [[ 9.24016294e-01 3.49612998e-01 1.54805172e-01 1.07238604e+02] [-3.45029580e-01 9.36893356e-01 -5.64395932e-02 -2.47011138e+01] [-1.64767952e-01 -1.26125968e-03 9.86331552e-01 -1.70685154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:-24.71, Z:-17.07 [[ 9.23701964e-01 3.50245301e-01 1.55251125e-01 1.07268442e+02] [-3.45638239e-01 9.36657046e-01 -5.66373298e-02 -2.47115393e+01] [-1.65254018e-01 -1.34471244e-03 9.86250121e-01 -1.70739324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:-24.72, Z:-17.08 [[ 9.23319356e-01 3.51011020e-01 1.55796761e-01 1.07298212e+02] [-3.46378497e-01 9.36370179e-01 -5.68579278e-02 -2.47214806e+01] [-1.65841201e-01 -1.46662278e-03 9.86151380e-01 -1.70790197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49587156000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:107.33, Y:-24.73, Z:-17.08 [[ 9.23004628e-01 3.52075551e-01 1.55258699e-01 1.07329927e+02] [-3.47484887e-01 9.35970178e-01 -5.66928496e-02 -2.47298851e+01] [-1.65277679e-01 -1.62228909e-03 9.86245739e-01 -1.70846066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:-24.74, Z:-17.09 [[ 9.22765282e-01 3.52650146e-01 1.55377312e-01 1.07359508e+02] [-3.48054741e-01 9.35753709e-01 -5.67705255e-02 -2.47405767e+01] [-1.65415031e-01 -1.69394029e-03 9.86222591e-01 -1.70904197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:-24.75, Z:-17.10 [[ 9.22606361e-01 3.52962033e-01 1.55612682e-01 1.07388839e+02] [-3.48351610e-01 9.35636061e-01 -5.68886444e-02 -2.47510615e+01] [-1.65676368e-01 -1.72210321e-03 9.86178673e-01 -1.70956493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:-24.76, Z:-17.10 [[ 9.22437555e-01 3.53301809e-01 1.55842194e-01 1.07419019e+02] [-3.48677172e-01 9.35507749e-01 -5.70042165e-02 -2.47600575e+01] [-1.65931273e-01 -1.75578544e-03 9.86135756e-01 -1.71004746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:-24.77, Z:-17.11 [[ 9.22279622e-01 3.53792357e-01 1.55663953e-01 1.07450052e+02] [-3.49180070e-01 9.35322235e-01 -5.69701272e-02 -2.47704269e+01] [-1.65751552e-01 -1.81236262e-03 9.86165878e-01 -1.71061824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:-24.78, Z:-17.11 [[ 9.22051420e-01 3.54341982e-01 1.55765653e-01 1.07481242e+02] [-3.49725789e-01 9.35114016e-01 -5.70407784e-02 -2.47808429e+01] [-1.65870588e-01 -1.88073528e-03 9.86145735e-01 -1.71120160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:-24.79, Z:-17.12 [[ 9.21954931e-01 3.54739051e-01 1.55432659e-01 1.07511434e+02] [-3.50142628e-01 9.34963387e-01 -5.69526569e-02 -2.47906018e+01] [-1.65527176e-01 -1.91581666e-03 9.86203368e-01 -1.71177337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70587156 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:107.54, Y:-24.80, Z:-17.12 [[ 9.21967428e-01 3.55502632e-01 1.53603192e-01 1.07542565e+02] [-3.51019873e-01 9.34673142e-01 -5.63131077e-02 -2.47986059e+01] [-1.63588236e-01 -1.99892199e-03 9.86526681e-01 -1.71242537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:-24.81, Z:-17.13 [[ 9.22006803e-01 3.55647438e-01 1.53030570e-01 1.07573440e+02] [-3.51194821e-01 9.34618080e-01 -5.61359211e-02 -2.48093362e+01] [-1.62989734e-01 -1.98584249e-03 9.86625766e-01 -1.71308617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:-24.82, Z:-17.14 [[ 9.22272348e-01 3.55187760e-01 1.52497119e-01 1.07603275e+02] [-3.50754580e-01 9.34793118e-01 -5.59736730e-02 -2.48203356e+01] [-1.62434420e-01 -1.86609195e-03 9.86717577e-01 -1.71368400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.63, Y:-24.83, Z:-17.14 [[ 9.23255038e-01 3.53306921e-01 1.50911744e-01 1.07634004e+02] [-3.48936061e-01 9.35506280e-01 -5.54222413e-02 -2.48318718e+01] [-1.60759946e-01 -1.48968614e-03 9.86992412e-01 -1.71425848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:-24.84, Z:-17.15 [[ 9.23624787e-01 3.52376449e-01 1.50824705e-01 1.07663401e+02] [-3.47992847e-01 9.35857447e-01 -5.54239774e-02 -2.48431860e+01] [-1.60680527e-01 -1.29495903e-03 9.87005619e-01 -1.71486378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:-24.85, Z:-17.15 [[ 9.23970266e-01 3.51493896e-01 1.50767997e-01 1.07694142e+02] [-3.47098701e-01 9.36189501e-01 -5.54230069e-02 -2.48546071e+01] [-1.60628265e-01 -1.12216560e-03 9.87014337e-01 -1.71544183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:-24.87, Z:-17.16 [[ 9.24166330e-01 3.51075932e-01 1.50539978e-01 1.07724207e+02] [-3.46683296e-01 9.36346440e-01 -5.53718016e-02 -2.48661904e+01] [-1.60397280e-01 -1.01694126e-03 9.87052014e-01 -1.71603033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91587156000001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:107.75, Y:-24.88, Z:-17.17 [[ 9.24392953e-01 3.50550510e-01 1.50372894e-01 1.07754674e+02] [-3.46155496e-01 9.36543400e-01 -5.53428591e-02 -2.48777643e+01] [-1.60231209e-01 -8.93854857e-04 9.87079106e-01 -1.71653388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:-24.89, Z:-17.17 [[ 9.23808942e-01 3.51347358e-01 1.52092314e-01 1.07784667e+02] [-3.46855773e-01 9.36244631e-01 -5.60094910e-02 -2.48899799e+01] [-1.62074399e-01 -1.01202850e-03 9.86778022e-01 -1.71698425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:-24.90, Z:-17.17 [[ 9.23227420e-01 3.52457188e-01 1.53052483e-01 1.07815457e+02] [-3.47917822e-01 9.35827192e-01 -5.63973018e-02 -2.49006915e+01] [-1.63108309e-01 -1.18215106e-03 9.86607461e-01 -1.71744883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:-24.91, Z:-17.18 [[ 9.22023270e-01 3.55323958e-01 1.53681407e-01 1.07845131e+02] [-3.50780710e-01 9.34741739e-01 -5.66637005e-02 -2.49108193e+01] [-1.63786396e-01 -1.66322277e-03 9.86494425e-01 -1.71800868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:-24.92, Z:-17.19 [[ 9.21379206e-01 3.57001215e-01 1.53657056e-01 1.07874907e+02] [-3.52479097e-01 9.34101903e-01 -5.66755849e-02 -2.49225827e+01] [-1.63764601e-01 -1.94119491e-03 9.86497535e-01 -1.71859330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:107.90, Y:-24.93, Z:-17.19 [[ 9.20857362e-01 3.58471261e-01 1.53362559e-01 1.07904437e+02] [-3.53981241e-01 9.33538248e-01 -5.66005257e-02 -2.49339721e+01] [-1.63459477e-01 -2.16645828e-03 9.86547670e-01 -1.71909165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:-24.95, Z:-17.20 [[ 9.19437621e-01 3.61829962e-01 1.53992010e-01 1.07934536e+02] [-3.57346078e-01 9.32240037e-01 -5.68532657e-02 -2.49462744e+01] [-1.64128732e-01 -2.75540938e-03 9.86435080e-01 -1.71973380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:-24.96, Z:-17.20 [[ 9.18681766e-01 3.63692747e-01 1.54114886e-01 1.07964159e+02] [-3.59222034e-01 9.31513945e-01 -5.69324166e-02 -2.49573542e+01] [-1.64266072e-01 -3.05868964e-03 9.86411325e-01 -1.72026076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:-24.97, Z:-17.21 [[ 9.17892199e-01 3.65653314e-01 1.54180300e-01 1.07993506e+02] [-3.61201006e-01 9.30744981e-01 -5.69878293e-02 -2.49684343e+01] [-1.64340329e-01 -3.38139549e-03 9.86397903e-01 -1.72080419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:-24.98, Z:-17.21 [[ 9.16201916e-01 3.69896868e-01 1.54111505e-01 1.08023005e+02] [-3.65502894e-01 9.29063726e-01 -5.69932187e-02 -2.49790383e+01] [-1.64261022e-01 -4.11090492e-03 9.86408342e-01 -1.72130617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:-24.99, Z:-17.22 [[ 9.15320381e-01 3.72277634e-01 1.53616285e-01 1.08053991e+02] [-3.67940234e-01 9.28110534e-01 -5.68403169e-02 -2.49898524e+01] [-1.63733271e-01 -4.49451118e-03 9.86494407e-01 -1.72188079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:-25.00, Z:-17.22 [[ 9.14547552e-01 3.74389640e-01 1.53085507e-01 1.08083406e+02] [-3.70106261e-01 9.27258929e-01 -5.66765716e-02 -2.50001050e+01] [-1.63169024e-01 -4.82448481e-03 9.86586334e-01 -1.72242730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.11, Y:-25.01, Z:-17.23 [[ 9.13741633e-01 3.76454470e-01 1.52834095e-01 1.08113839e+02] [-3.72210621e-01 9.26420718e-01 -5.66030730e-02 -2.50104926e+01] [-1.62897152e-01 -5.16588912e-03 9.86629531e-01 -1.72296938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:-25.02, Z:-17.24 [[ 9.12537428e-01 3.79297154e-01 1.53000366e-01 1.08143806e+02] [-3.75078011e-01 9.25257679e-01 -5.66984360e-02 -2.50207210e+01] [-1.63070319e-01 -5.64762793e-03 9.86598285e-01 -1.72360209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:-25.03, Z:-17.24 [[ 9.12489604e-01 3.79414907e-01 1.52993633e-01 1.08174708e+02] [-3.75194364e-01 9.25209391e-01 -5.67165986e-02 -2.50323334e+01] [-1.63070269e-01 -5.64904201e-03 9.86598285e-01 -1.72416967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:-25.04, Z:-17.25 [[ 9.12055461e-01 3.80434770e-01 1.53049738e-01 1.08205643e+02] [-3.76221738e-01 9.24789486e-01 -5.67592312e-02 -2.50427970e+01] [-1.63131974e-01 -5.81307164e-03 9.86587131e-01 -1.72473559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.24, Y:-25.05, Z:-17.25 [[ 9.11767346e-01 3.81201368e-01 1.52858835e-01 1.08236340e+02] [-3.77004278e-01 9.24473125e-01 -5.67205005e-02 -2.50528764e+01] [-1.62935817e-01 -5.91253438e-03 9.86618955e-01 -1.72523904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:-25.06, Z:-17.26 [[ 9.11420016e-01 3.82004057e-01 1.52926305e-01 1.08267042e+02] [-3.77808916e-01 9.24140990e-01 -5.67789824e-02 -2.50615442e+01] [-1.63015269e-01 -6.02742054e-03 9.86605135e-01 -1.72587910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:-25.07, Z:-17.26 [[ 9.11343564e-01 3.82236453e-01 1.52801187e-01 1.08298236e+02] [-3.78048141e-01 9.24044777e-01 -5.67525600e-02 -2.50719770e+01] [-1.62888036e-01 -6.04512428e-03 9.86626041e-01 -1.72646923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:-25.08, Z:-17.27 [[ 9.11307802e-01 3.82404471e-01 1.52593943e-01 1.08328738e+02] [-3.78224583e-01 9.23975315e-01 -5.67078753e-02 -2.50824046e+01] [-1.62678381e-01 -6.03645106e-03 9.86660684e-01 -1.72699933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:-25.09, Z:-17.28 [[ 9.11603934e-01 3.81683924e-01 1.52629126e-01 1.08359199e+02] [-3.77486584e-01 9.24274218e-01 -5.67542766e-02 -2.50914385e+01] [-1.62733361e-01 -5.87802575e-03 9.86652574e-01 -1.72753935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.39, Y:-25.10, Z:-17.28 [[ 9.11804068e-01 3.81210179e-01 1.52617631e-01 1.08390367e+02] [-3.77001450e-01 9.24470442e-01 -5.67830011e-02 -2.51016202e+01] [-1.62736747e-01 -5.76209686e-03 9.86652700e-01 -1.72807763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.42, Y:-25.11, Z:-17.29 [[ 9.12194049e-01 3.80333306e-01 1.52474894e-01 1.08420379e+02] [-3.76114854e-01 9.24832721e-01 -5.67631435e-02 -2.51108152e+01] [-1.62602685e-01 -5.56907093e-03 9.86675910e-01 -1.72863171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:-25.12, Z:-17.29 [[ 9.12567112e-01 3.79579992e-01 1.52119346e-01 1.08450316e+02] [-3.75367571e-01 9.25143146e-01 -5.66510905e-02 -2.51204127e+01] [-1.62235790e-01 -5.40274725e-03 9.86737229e-01 -1.72913237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:-25.13, Z:-17.30 [[ 9.13562484e-01 3.77122477e-01 1.52257101e-01 1.08482275e+02] [-3.72865272e-01 9.26150156e-01 -5.67219282e-02 -2.51286782e+01] [-1.62404052e-01 -4.95235990e-03 9.86711912e-01 -1.72968913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:-25.14, Z:-17.30 [[ 9.14045022e-01 3.75915478e-01 1.52345830e-01 1.08512594e+02] [-3.71631189e-01 9.26641988e-01 -5.67880776e-02 -2.51379764e+01] [-1.62517560e-01 -4.70960249e-03 9.86694412e-01 -1.73023376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:-25.15, Z:-17.31 [[ 9.14552509e-01 3.74699182e-01 1.52296523e-01 1.08544009e+02] [-3.70397687e-01 9.27135649e-01 -5.67894455e-02 -2.51478798e+01] [-1.62478494e-01 -4.47334988e-03 9.86701945e-01 -1.73082562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:-25.16, Z:-17.31 [[ 9.15036968e-01 3.73522200e-01 1.52277749e-01 1.08574410e+02] [-3.69199932e-01 9.27611589e-01 -5.68168026e-02 -2.51576886e+01] [-1.62476942e-01 -4.23145995e-03 9.86703267e-01 -1.73138879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:-25.17, Z:-17.32 [[ 9.16127913e-01 3.70795904e-01 1.52381248e-01 1.08605330e+02] [-3.66426841e-01 9.28706885e-01 -5.68761099e-02 -2.51654149e+01] [-1.62606943e-01 -3.73078735e-03 9.86683872e-01 -1.73191650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:-25.18, Z:-17.33 [[ 9.16554230e-01 3.69577631e-01 1.52776692e-01 1.08636413e+02] [-3.65163798e-01 9.29193285e-01 -5.70547029e-02 -2.51751081e+01] [-1.63045218e-01 -3.49478783e-03 9.86612408e-01 -1.73251146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.67, Y:-25.18, Z:-17.33 [[ 9.16987494e-01 3.68501356e-01 1.52776588e-01 1.08666779e+02] [-3.64067206e-01 9.29621452e-01 -5.70878742e-02 -2.51842610e+01] [-1.63061353e-01 -3.27207887e-03 9.86610505e-01 -1.73304274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.70, Y:-25.19, Z:-17.34 [[ 9.17657318e-01 3.66985788e-01 1.52402358e-01 1.08698533e+02] [-3.62547633e-01 9.30221820e-01 -5.69787712e-02 -2.51918616e+01] [-1.62678398e-01 -2.96612769e-03 9.86674689e-01 -1.73362934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.73, Y:-25.20, Z:-17.34 [[ 9.17862600e-01 3.66678564e-01 1.51904836e-01 1.08730040e+02] [-3.62259905e-01 9.30343265e-01 -5.68257987e-02 -2.52017599e+01] [-1.62160444e-01 -2.87075625e-03 9.86760229e-01 -1.73413113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:108.76, Y:-25.21, Z:-17.35 [[ 9.17858921e-01 3.66560854e-01 1.52210847e-01 1.08760358e+02] [-3.62117095e-01 9.30389792e-01 -5.69740671e-02 -2.52112471e+01] [-1.62499881e-01 -2.82399405e-03 9.86704522e-01 -1.73467339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:-25.22, Z:-17.35 [[ 9.17984158e-01 3.66201389e-01 1.52320807e-01 1.08792312e+02] [-3.61741098e-01 9.30531608e-01 -5.70465091e-02 -2.52188315e+01] [-1.62629837e-01 -2.73290455e-03 9.86683367e-01 -1.73526390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:-25.23, Z:-17.36 [[ 9.18156361e-01 3.65909409e-01 1.51984214e-01 1.08823798e+02] [-3.61459399e-01 9.30646720e-01 -5.69542371e-02 -2.52278807e+01] [-1.62283701e-01 -2.64322739e-03 9.86740601e-01 -1.73585318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:-25.24, Z:-17.36 [[ 9.18367180e-01 3.65554238e-01 1.51564579e-01 1.08854300e+02] [-3.61118499e-01 9.30786572e-01 -5.68312089e-02 -2.52366379e+01] [-1.61849164e-01 -2.54085618e-03 9.86812238e-01 -1.73644497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:-25.25, Z:-17.37 [[ 9.18782182e-01 3.64800756e-01 1.50863214e-01 1.08884236e+02] [-3.60392729e-01 9.31082573e-01 -5.65890707e-02 -2.52453723e+01] [-1.61109846e-01 -2.37697562e-03 9.86933619e-01 -1.73701727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:-25.25, Z:-17.38 [[ 9.19774549e-01 3.62427484e-01 1.50536032e-01 1.08915592e+02] [-3.58003891e-01 9.32009958e-01 -5.64858561e-02 -2.52530813e+01] [-1.60773108e-01 -1.93823252e-03 9.86989489e-01 -1.73763049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:-25.26, Z:-17.38 [[ 9.20385264e-01 3.60883457e-01 1.50512777e-01 1.08945523e+02] [-3.56435373e-01 9.32609484e-01 -5.65099530e-02 -2.52623499e+01] [-1.60763151e-01 -1.63714996e-03 9.86991656e-01 -1.73818345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:-25.27, Z:-17.39 [[ 9.21051443e-01 3.59316212e-01 1.50186881e-01 1.08976514e+02] [-3.54861847e-01 9.33214920e-01 -5.64179351e-02 -2.52720754e+01] [-1.60428517e-01 -1.33177324e-03 9.87046563e-01 -1.73872972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:-25.28, Z:-17.39 [[ 9.22414108e-01 3.55939220e-01 1.49864890e-01 1.09007887e+02] [-3.51454421e-01 9.34508836e-01 -5.63296103e-02 -2.52811447e+01] [-1.60099982e-01 -7.11450955e-04 9.87100547e-01 -1.73930612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:-25.29, Z:-17.40 [[ 9.22808077e-01 3.54843114e-01 1.50038719e-01 1.09039101e+02] [-3.50328141e-01 9.34925731e-01 -5.64275680e-02 -2.52915175e+01] [-1.60297993e-01 -4.90970124e-04 9.87068545e-01 -1.73982915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:-25.30, Z:-17.40 [[ 9.23078955e-01 3.54099433e-01 1.50129393e-01 1.09068928e+02] [-3.49563644e-01 9.35207722e-01 -5.64958064e-02 -2.53008719e+01] [-1.60407300e-01 -3.29687644e-04 9.87050855e-01 -1.74033530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.10, Y:-25.31, Z:-17.41 [[ 9.23750709e-01 3.52346489e-01 1.50121884e-01 1.09100856e+02] [-3.47782998e-01 9.35869623e-01 -5.65246383e-02 -2.53096773e+01] [-1.60410769e-01 4.83567885e-06 9.87050346e-01 -1.74090291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:-25.32, Z:-17.41 [[ 9.24051049e-01 3.51352723e-01 1.50601869e-01 1.09131779e+02] [-3.46741183e-01 9.36243141e-01 -5.67391589e-02 -2.53206245e+01] [-1.60935425e-01 2.10008941e-04 9.86964916e-01 -1.74147925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:-25.33, Z:-17.42 [[ 9.24395181e-01 3.50356124e-01 1.50811594e-01 1.09161324e+02] [-3.45712953e-01 9.36616471e-01 -5.68519172e-02 -2.53314145e+01] [-1.61171040e-01 4.16116933e-04 9.86926402e-01 -1.74199492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:-25.34, Z:-17.43 [[ 9.25024700e-01 3.48347233e-01 1.51603131e-01 1.09191989e+02] [-3.43622871e-01 9.37365225e-01 -5.71817933e-02 -2.53418944e+01] [-1.62026622e-01 8.00268122e-04 9.86786063e-01 -1.74250615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:-25.35, Z:-17.43 [[ 9.25312829e-01 3.47451161e-01 1.51900824e-01 1.09221746e+02] [-3.42690328e-01 9.37697556e-01 -5.73291664e-02 -2.53529261e+01] [-1.62356117e-01 9.92469977e-04 9.86731730e-01 -1.74306033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:-25.36, Z:-17.44 [[ 9.25697123e-01 3.46412383e-01 1.51931887e-01 1.09252337e+02] [-3.41632243e-01 9.38081571e-01 -5.73618085e-02 -2.53648037e+01] [-1.62395344e-01 1.19482974e-03 9.86725050e-01 -1.74364279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:-25.38, Z:-17.44 [[ 9.26323603e-01 3.44686285e-01 1.52039295e-01 1.09282705e+02] [-3.39870789e-01 9.38716690e-01 -5.74353797e-02 -2.53766756e+01] [-1.62519012e-01 1.53003259e-03 9.86704226e-01 -1.74424206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:109.31, Y:-25.39, Z:-17.45 [[ 9.26557805e-01 3.44187182e-01 1.51742606e-01 1.09312503e+02] [-3.39378344e-01 9.38899607e-01 -5.73573644e-02 -2.53884880e+01] [-1.62212743e-01 1.64675914e-03 9.86754435e-01 -1.74480850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:-25.40, Z:-17.45 [[ 9.26770207e-01 3.43815101e-01 1.51288334e-01 1.09341790e+02] [-3.39024708e-01 9.39035757e-01 -5.72197066e-02 -2.54007482e+01] [-1.61738154e-01 1.73903602e-03 9.86832177e-01 -1.74534555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:109.37, Y:-25.41, Z:-17.46 [[ 9.26847586e-01 3.43641372e-01 1.51208993e-01 1.09371343e+02] [-3.38848589e-01 9.39099235e-01 -5.72211528e-02 -2.54130680e+01] [-1.61663805e-01 1.79833343e-03 9.86844253e-01 -1.74600975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.40, Y:-25.43, Z:-17.47 [[ 9.26869066e-01 3.43750619e-01 1.50828534e-01 1.09400668e+02] [-3.38978193e-01 9.39059237e-01 -5.71098391e-02 -2.54267593e+01] [-1.61268471e-01 1.80575916e-03 9.86908922e-01 -1.74651545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:-25.44, Z:-17.47 [[ 9.26832794e-01 3.43969728e-01 1.50551648e-01 1.09429864e+02] [-3.39212132e-01 9.38979018e-01 -5.70397604e-02 -2.54384444e+01] [-1.60984790e-01 1.79737492e-03 9.86955251e-01 -1.74704886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:109.46, Y:-25.45, Z:-17.48 [[ 9.26571317e-01 3.44765069e-01 1.50341753e-01 1.09459165e+02] [-3.40027756e-01 9.38687507e-01 -5.69814932e-02 -2.54498414e+01] [-1.60769154e-01 1.67704838e-03 9.86990611e-01 -1.74769006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:-25.46, Z:-17.48 [[ 9.25883600e-01 3.46661051e-01 1.50218756e-01 1.09488314e+02] [-3.41953029e-01 9.37989472e-01 -5.69550348e-02 -2.54640439e+01] [-1.60647703e-01 1.36597411e-03 9.87010866e-01 -1.74821415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:-25.48, Z:-17.49 [[ 9.25362076e-01 3.48080704e-01 1.50149431e-01 1.09518351e+02] [-3.43390104e-01 9.37463865e-01 -5.69626031e-02 -2.54771664e+01] [-1.60587249e-01 1.15120389e-03 9.87020978e-01 -1.74873752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.55, Y:-25.49, Z:-17.49 [[ 9.24814947e-01 3.49663132e-01 1.49843279e-01 1.09547235e+02] [-3.45006860e-01 9.36875056e-01 -5.68805313e-02 -2.54892678e+01] [-1.60273455e-01 9.07006210e-04 9.87072235e-01 -1.74928605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:-25.50, Z:-17.50 [[ 9.23564820e-01 3.53031058e-01 1.49656590e-01 1.09576231e+02] [-3.48425167e-01 9.35611537e-01 -5.68414931e-02 -2.55024061e+01] [-1.60087245e-01 3.52680922e-04 9.87102806e-01 -1.74982787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:-25.51, Z:-17.50 [[ 9.22791336e-01 3.54867254e-01 1.50084581e-01 1.09604875e+02] [-3.50253655e-01 9.34916696e-01 -5.70363882e-02 -2.55143356e+01] [-1.60556927e-01 6.50116285e-05 9.87026580e-01 -1.75040697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77587156000001 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:109.64, Y:-25.53, Z:-17.51 [[ 9.21984875e-01 3.57000370e-01 1.49982084e-01 1.09635416e+02] [-3.52417847e-01 9.34104198e-01 -5.70176118e-02 -2.55267763e+01] [-1.60454203e-01 -2.86987407e-04 9.87043244e-01 -1.75098744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.67, Y:-25.54, Z:-17.52 [[ 9.21335888e-01 3.58755519e-01 1.49782041e-01 1.09666157e+02] [-3.54202859e-01 9.33431392e-01 -5.69751758e-02 -2.55387499e+01] [-1.60251418e-01 -5.59952951e-04 9.87076071e-01 -1.75152046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83587156 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:109.70, Y:-25.55, Z:-17.52 [[ 9.20200383e-01 3.61967424e-01 1.49033015e-01 1.09695044e+02] [-3.57496721e-01 9.32190118e-01 -5.67245851e-02 -2.55501729e+01] [-1.59459555e-01 -1.08082911e-03 9.87203871e-01 -1.75215431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.73, Y:-25.56, Z:-17.53 [[ 9.19712678e-01 3.63255869e-01 1.48908573e-01 1.09725746e+02] [-3.58806181e-01 9.31688534e-01 -5.66974355e-02 -2.55620505e+01] [-1.59332087e-01 -1.28396627e-03 9.87224208e-01 -1.75268252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:-25.57, Z:-17.53 [[ 9.19248898e-01 3.64428688e-01 1.48906667e-01 1.09755045e+02] [-3.59989039e-01 9.31230160e-01 -5.67298892e-02 -2.55733120e+01] [-1.59340379e-01 -1.45587985e-03 9.87222632e-01 -1.75322774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:-25.59, Z:-17.54 [[ 9.18851836e-01 3.65394085e-01 1.48991495e-01 1.09784345e+02] [-3.60956954e-01 9.30851556e-01 -5.67931193e-02 -2.55853015e+01] [-1.59440835e-01 -1.59505444e-03 9.87206197e-01 -1.75381230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:-25.60, Z:-17.54 [[ 9.18748845e-01 3.65456354e-01 1.49473117e-01 1.09814119e+02] [-3.60986198e-01 9.30827132e-01 -5.70071563e-02 -2.55972166e+01] [-1.59967260e-01 -1.58247309e-03 9.87121052e-01 -1.75436203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:-25.61, Z:-17.55 [[ 9.18768250e-01 3.65180879e-01 1.50026094e-01 1.09843917e+02] [-3.60668204e-01 9.30935363e-01 -5.72520390e-02 -2.56089506e+01] [-1.60571946e-01 -1.50828608e-03 9.87022986e-01 -1.75488030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:-25.62, Z:-17.55 [[ 9.19232390e-01 3.63737575e-01 1.50687725e-01 1.09873012e+02] [-3.59160206e-01 9.31500650e-01 -5.75368238e-02 -2.56210420e+01] [-1.61294018e-01 -1.23132230e-03 9.86905630e-01 -1.75534682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:109.90, Y:-25.63, Z:-17.56 [[ 9.19338075e-01 3.63200575e-01 1.51336861e-01 1.09902638e+02] [-3.58572826e-01 9.31710299e-01 -5.78052489e-02 -2.56333143e+01] [-1.61997012e-01 -1.12271979e-03 9.86790610e-01 -1.75592794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:-25.64, Z:-17.56 [[ 9.19719000e-01 3.62184221e-01 1.51458085e-01 1.09932867e+02] [-3.57530018e-01 9.32106085e-01 -5.78837779e-02 -2.56449500e+01] [-1.62139594e-01 -9.14001528e-04 9.86767408e-01 -1.75643583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:-25.66, Z:-17.57 [[ 9.20364402e-01 3.60770012e-01 1.50911781e-01 1.09963049e+02] [-3.56125363e-01 9.32654598e-01 -5.77072477e-02 -2.56580697e+01] [-1.61567611e-01 -6.31816243e-04 9.86861443e-01 -1.75703805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:-25.67, Z:-17.58 [[ 9.20726379e-01 3.60082627e-01 1.50344397e-01 1.09991878e+02] [-3.55458406e-01 9.32920294e-01 -5.75243182e-02 -2.56701628e+01] [-1.60972846e-01 -4.77022452e-04 9.86958720e-01 -1.75760786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.02, Y:-25.68, Z:-17.58 [[ 9.20999634e-01 3.59530041e-01 1.49992745e-01 1.10022215e+02] [-3.54917016e-01 9.33133441e-01 -5.74098628e-02 -2.56828672e+01] [-1.60603817e-01 -3.60514959e-04 9.87018887e-01 -1.75820333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:-25.69, Z:-17.59 [[ 9.21317919e-01 3.58755927e-01 1.49891550e-01 1.10051211e+02] [-3.54133433e-01 9.33431383e-01 -5.74052618e-02 -2.56948245e+01] [-1.60507955e-01 -1.93112820e-04 9.87034528e-01 -1.75878423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:-25.71, Z:-17.59 [[ 9.21270349e-01 3.58882564e-01 1.49880781e-01 1.10081990e+02] [-3.54257163e-01 9.33382703e-01 -5.74333645e-02 -2.57067755e+01] [-1.60507962e-01 -1.84684618e-04 9.87034528e-01 -1.75935189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.11, Y:-25.72, Z:-17.60 [[ 9.21243521e-01 3.59069341e-01 1.49598073e-01 1.10111950e+02] [-3.54460299e-01 9.33310865e-01 -5.73474171e-02 -2.57192035e+01] [-1.60213206e-01 -1.95641059e-04 9.87082413e-01 -1.75995576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:-25.73, Z:-17.60 [[ 9.21288037e-01 3.59102971e-01 1.49242786e-01 1.10141787e+02] [-3.54510950e-01 9.33297931e-01 -5.72447250e-02 -2.57309040e+01] [-1.59844734e-01 -1.69321513e-04 9.87142154e-01 -1.76044665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:-25.74, Z:-17.61 [[ 9.21240274e-01 3.59235770e-01 1.49218022e-01 1.10171965e+02] [-3.54641984e-01 9.33246824e-01 -5.72662898e-02 -2.57425500e+01] [-1.59829345e-01 -1.62962904e-04 9.87144647e-01 -1.76100758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:-25.75, Z:-17.62 [[ 9.21180934e-01 3.59464373e-01 1.49033723e-01 1.10200962e+02] [-3.54879496e-01 9.33158794e-01 -5.72294342e-02 -2.57548735e+01] [-1.59644072e-01 -1.70348738e-04 9.87174626e-01 -1.76157569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:-25.77, Z:-17.62 [[ 9.21078589e-01 3.59735901e-01 1.49011123e-01 1.10230444e+02] [-3.55152710e-01 9.33054147e-01 -5.72408119e-02 -2.57672456e+01] [-1.59627021e-01 -1.98418013e-04 9.87177378e-01 -1.76216636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:-25.78, Z:-17.63 [[ 9.21014870e-01 3.60087319e-01 1.48555485e-01 1.10260364e+02] [-3.55531986e-01 9.32918576e-01 -5.70958589e-02 -2.57793323e+01] [-1.59149667e-01 -2.30091660e-04 9.87254441e-01 -1.76267130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.29, Y:-25.79, Z:-17.63 [[ 9.20782978e-01 3.60519237e-01 1.48944911e-01 1.10290536e+02] [-3.55940304e-01 9.32751737e-01 -5.72773602e-02 -2.57904829e+01] [-1.59578215e-01 -2.75478575e-04 9.87185250e-01 -1.76329147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.32, Y:-25.80, Z:-17.64 [[ 9.20699242e-01 3.59945661e-01 1.50837750e-01 1.10319780e+02] [-3.55709487e-01 9.32968791e-01 -5.51361536e-02 -2.58034780e+01] [-1.60572932e-01 -2.89060370e-03 9.87019745e-01 -1.76386629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49587156000001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:110.35, Y:-25.81, Z:-17.64 [[ 9.20825592e-01 3.60618151e-01 1.48441164e-01 1.10349779e+02] [-3.55582427e-01 9.32710007e-01 -6.01097375e-02 -2.58119349e+01] [-1.60129222e-01 2.56751515e-03 9.87092721e-01 -1.76443395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:-25.83, Z:-17.65 [[ 9.21314085e-01 3.58713809e-01 1.50015867e-01 1.10379602e+02] [-3.54031699e-01 9.33447583e-01 -5.77682042e-02 -2.58257392e+01] [-1.60754201e-01 1.12287741e-04 9.86994465e-01 -1.76497747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:-25.84, Z:-17.65 [[ 9.21541032e-01 3.58007211e-01 1.50309559e-01 1.10408640e+02] [-3.53291633e-01 9.33718782e-01 -5.79159521e-02 -2.58376191e+01] [-1.61081187e-01 2.68816772e-04 9.86941122e-01 -1.76546937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.44, Y:-25.85, Z:-17.66 [[ 9.21827813e-01 3.57312363e-01 1.50204393e-01 1.10438701e+02] [-3.52590923e-01 9.33984854e-01 -5.78958827e-02 -2.58495396e+01] [-1.60975543e-01 4.09329461e-04 9.86958311e-01 -1.76599039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.47, Y:-25.86, Z:-17.66 [[ 9.22066505e-01 3.56723677e-01 1.50138533e-01 1.10468521e+02] [-3.51993141e-01 9.34209785e-01 -5.79042828e-02 -2.58613231e+01] [-1.60916716e-01 5.43865694e-04 9.86967839e-01 -1.76648927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:110.50, Y:-25.87, Z:-17.67 [[ 9.22356975e-01 3.55875217e-01 1.50367684e-01 1.10498707e+02] [-3.51113791e-01 9.34533203e-01 -5.80241183e-02 -2.58736071e+01] [-1.61172939e-01 7.22782778e-04 9.86925915e-01 -1.76709700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:-25.89, Z:-17.68 [[ 9.22605339e-01 3.55293962e-01 1.50218474e-01 1.10528588e+02] [-3.50528862e-01 9.34754229e-01 -5.80004183e-02 -2.58858163e+01] [-1.61024552e-01 8.55584939e-04 9.86950030e-01 -1.76762340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:-25.90, Z:-17.68 [[ 9.22739840e-01 3.54976201e-01 1.50143549e-01 1.10558202e+02] [-3.50206169e-01 9.34874862e-01 -5.80054392e-02 -2.58985660e+01] [-1.60955980e-01 9.42732581e-04 9.86961136e-01 -1.76819678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.59, Y:-25.91, Z:-17.69 [[ 9.22841621e-01 3.54733368e-01 1.50091907e-01 1.10586581e+02] [-3.49957827e-01 9.34966953e-01 -5.80199673e-02 -2.59114131e+01] [-1.60912592e-01 1.01740288e-03 9.86968137e-01 -1.76874844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:-25.93, Z:-17.69 [[ 9.23124625e-01 3.53970704e-01 1.50152149e-01 1.10615963e+02] [-3.49176054e-01 9.35255765e-01 -5.80752723e-02 -2.59255625e+01] [-1.60987608e-01 1.18117894e-03 9.86955721e-01 -1.76926591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:-25.94, Z:-17.70 [[ 9.23266031e-01 3.53795569e-01 1.49694792e-01 1.10644861e+02] [-3.49022577e-01 9.35321955e-01 -5.79316979e-02 -2.59373675e+01] [-1.60508803e-01 1.23950677e-03 9.87033630e-01 -1.76980335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.67, Y:-25.95, Z:-17.70 [[ 9.23252793e-01 3.53920745e-01 1.49480391e-01 1.10674640e+02] [-3.49158139e-01 9.35274588e-01 -5.78795170e-02 -2.59494588e+01] [-1.60289973e-01 1.24513062e-03 9.87069184e-01 -1.77038005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.70, Y:-25.96, Z:-17.71 [[ 9.23263634e-01 3.54072093e-01 1.49054404e-01 1.10703980e+02] [-3.49333238e-01 9.35217299e-01 -5.77485212e-02 -2.59616820e+01] [-1.59845397e-01 1.24745199e-03 9.87141273e-01 -1.77096356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.73, Y:-25.98, Z:-17.72 [[ 9.23298812e-01 3.54242842e-01 1.48429488e-01 1.10733435e+02] [-3.49542918e-01 9.35152657e-01 -5.75261301e-02 -2.59758228e+01] [-1.59182450e-01 1.23133105e-03 9.87248414e-01 -1.77152772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.76, Y:-25.99, Z:-17.72 [[ 9.22977875e-01 3.54943340e-01 1.48751697e-01 1.10762914e+02] [-3.50226556e-01 9.34887114e-01 -5.76839938e-02 -2.59886494e+01] [-1.59540594e-01 1.14425561e-03 9.87190706e-01 -1.77206851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:-26.00, Z:-17.73 [[ 9.22707541e-01 3.55607288e-01 1.48843041e-01 1.10792400e+02] [-3.50887729e-01 9.34634863e-01 -5.77535638e-02 -2.60006401e+01] [-1.59651484e-01 1.06245223e-03 9.87172870e-01 -1.77261524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:-26.01, Z:-17.73 [[ 9.22333881e-01 3.56624548e-01 1.48725059e-01 1.10822225e+02] [-3.51920530e-01 9.34247341e-01 -5.77394806e-02 -2.60132181e+01] [-1.59537307e-01 9.15677910e-04 9.87191476e-01 -1.77313558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:-26.03, Z:-17.74 [[ 9.21340287e-01 3.58808737e-01 1.49627422e-01 1.10850759e+02] [-3.54070105e-01 9.33410928e-01 -5.81240036e-02 -2.60261228e+01] [-1.60519272e-01 5.73389105e-04 9.87032540e-01 -1.77363619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.88, Y:-26.04, Z:-17.74 [[ 9.20771606e-01 3.60177862e-01 1.49838441e-01 1.10880445e+02] [-3.55438598e-01 9.32883580e-01 -5.82376869e-02 -2.60379362e+01] [-1.60757747e-01 3.65242977e-04 9.86993826e-01 -1.77418335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.91, Y:-26.05, Z:-17.75 [[ 9.20338774e-01 3.61418959e-01 1.49508786e-01 1.10910198e+02] [-3.56711919e-01 9.32403510e-01 -5.81403644e-02 -2.60500228e+01] [-1.60415547e-01 1.77265564e-04 9.87049553e-01 -1.77469332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:-26.06, Z:-17.75 [[ 9.19712814e-01 3.62957271e-01 1.49634085e-01 1.10939958e+02] [-3.58257085e-01 9.31805782e-01 -5.82223715e-02 -2.60636549e+01] [-1.60562138e-01 -5.96098868e-05 9.87025732e-01 -1.77530536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:-26.08, Z:-17.76 [[ 9.19396354e-01 3.63817606e-01 1.49489445e-01 1.10969002e+02] [-3.59132278e-01 9.31470192e-01 -5.82004233e-02 -2.60758859e+01] [-1.60419301e-01 -1.77228010e-04 9.87048943e-01 -1.77584535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15587156000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:111.00, Y:-26.09, Z:-17.76 [[ 9.19251355e-01 3.64366522e-01 1.49043561e-01 1.10998178e+02] [-3.59711315e-01 9.31255593e-01 -5.80585162e-02 -2.60873734e+01] [-1.59952230e-01 -2.42285688e-04 9.87124726e-01 -1.77639580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:-26.10, Z:-17.77 [[ 9.19114327e-01 3.64812337e-01 1.48797894e-01 1.11028583e+02] [-3.60173406e-01 9.31081025e-01 -5.79934788e-02 -2.60988985e+01] [-1.59699632e-01 -2.90407037e-04 9.87165611e-01 -1.77694679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:-26.11, Z:-17.78 [[ 9.18902060e-01 3.65337153e-01 1.48821265e-01 1.11058529e+02] [-3.60698288e-01 9.30875202e-01 -5.80353673e-02 -2.61107569e+01] [-1.59736501e-01 -3.50756746e-04 9.87159626e-01 -1.77752080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:-26.12, Z:-17.78 [[ 9.18754159e-01 3.65586464e-01 1.49121872e-01 1.11088101e+02] [-3.60926628e-01 9.30777312e-01 -5.81856018e-02 -2.61231213e+01] [-1.60071123e-01 -3.63790704e-04 9.87105416e-01 -1.77809189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:-26.14, Z:-17.79 [[ 9.18667852e-01 3.65755705e-01 1.49238544e-01 1.11117551e+02] [-3.61085362e-01 9.30710821e-01 -5.82642979e-02 -2.61357905e+01] [-1.60208427e-01 -3.62316230e-04 9.87083142e-01 -1.77862634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30587156000001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:111.15, Y:-26.15, Z:-17.79 [[ 9.18652519e-01 3.66114033e-01 1.48452228e-01 1.11147504e+02] [-3.61492852e-01 9.30569911e-01 -5.79875713e-02 -2.61491591e+01] [-1.59375240e-01 -3.93990711e-04 9.87217999e-01 -1.77913856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:-26.16, Z:-17.80 [[ 9.18668089e-01 3.66198127e-01 1.48148149e-01 1.11177147e+02] [-3.61591683e-01 9.30536829e-01 -5.79021963e-02 -2.61609046e+01] [-1.59060985e-01 -3.76238589e-04 9.87268688e-01 -1.77973448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:-26.17, Z:-17.80 [[ 9.18584804e-01 3.66533045e-01 1.47836008e-01 1.11206656e+02] [-3.61947274e-01 9.30404941e-01 -5.77997948e-02 -2.61723318e+01] [-1.58732887e-01 -4.14826974e-04 9.87321477e-01 -1.78032724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.24, Y:-26.18, Z:-17.81 [[ 9.18451233e-01 3.66858707e-01 1.47858114e-01 1.11236400e+02] [-3.62270913e-01 9.30276568e-01 -5.78385068e-02 -2.61843777e+01] [-1.58767498e-01 -4.42845913e-04 9.87315899e-01 -1.78088616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.27, Y:-26.20, Z:-17.81 [[ 9.18157090e-01 3.67540398e-01 1.47991941e-01 1.11265155e+02] [-3.62947595e-01 9.30007406e-01 -5.79246703e-02 -2.61975443e+01] [-1.58923257e-01 -5.29372350e-04 9.87290797e-01 -1.78143176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45587156 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:111.29, Y:-26.21, Z:-17.82 [[ 9.17840307e-01 3.68426480e-01 1.47753512e-01 1.11294856e+02] [-3.63856816e-01 9.29656651e-01 -5.78509194e-02 -2.62099259e+01] [-1.58673846e-01 -6.63216835e-04 9.87330831e-01 -1.78194800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:-26.22, Z:-17.82 [[ 9.17437921e-01 3.68800966e-01 1.49310105e-01 1.11324565e+02] [-3.64601785e-01 9.29502067e-01 -5.56007719e-02 -2.62233335e+01] [-1.59289670e-01 -3.42847419e-03 9.87225935e-01 -1.78244191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:-26.23, Z:-17.83 [[ 9.16666695e-01 3.71906170e-01 1.46314629e-01 1.11354860e+02] [-3.67000022e-01 9.28269096e-01 -6.02284750e-02 -2.62314805e+01] [-1.58218690e-01 1.51196519e-03 9.87402937e-01 -1.78302472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:-26.24, Z:-17.83 [[ 9.16165027e-01 3.72744160e-01 1.47320856e-01 1.11383715e+02] [-3.68244253e-01 9.27933195e-01 -5.77594589e-02 -2.62445656e+01] [-1.58233414e-01 -1.33286234e-03 9.87400836e-01 -1.78349690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:-26.26, Z:-17.84 [[ 9.15609547e-01 3.74014298e-01 1.47554947e-01 1.11414405e+02] [-3.69511487e-01 9.27421682e-01 -5.78816542e-02 -2.62565760e+01] [-1.58494223e-01 -1.52625244e-03 9.87358725e-01 -1.78404366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.44, Y:-26.27, Z:-17.85 [[ 9.14993416e-01 3.75388770e-01 1.47886176e-01 1.11444638e+02] [-3.70878162e-01 9.26865822e-01 -5.80442642e-02 -2.62679376e+01] [-1.58859807e-01 -1.73763357e-03 9.87299621e-01 -1.78457294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:-26.28, Z:-17.85 [[ 9.14398303e-01 3.76993165e-01 1.47485244e-01 1.11475260e+02] [-3.72522654e-01 9.26213923e-01 -5.79192575e-02 -2.62784386e+01] [-1.58438051e-01 -1.98032390e-03 9.87366934e-01 -1.78515672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:-26.29, Z:-17.86 [[ 9.14174371e-01 3.77648936e-01 1.47195452e-01 1.11504437e+02] [-3.73199358e-01 9.25946564e-01 -5.78376956e-02 -2.62899227e+01] [-1.58137467e-01 -2.05950936e-03 9.87414958e-01 -1.78573860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:-26.30, Z:-17.86 [[ 9.14072217e-01 3.77941523e-01 1.47078844e-01 1.11535220e+02] [-3.73498027e-01 9.25827131e-01 -5.78216833e-02 -2.63013926e+01] [-1.58022799e-01 -2.08046364e-03 9.87433272e-01 -1.78635802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:-26.31, Z:-17.87 [[ 9.14069227e-01 3.78005282e-01 1.46933502e-01 1.11565541e+02] [-3.73566304e-01 9.25801148e-01 -5.77966349e-02 -2.63125163e+01] [-1.57878639e-01 -2.05927997e-03 9.87456376e-01 -1.78687910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:-26.32, Z:-17.88 [[ 9.14656493e-01 3.76798226e-01 1.46378270e-01 1.11595732e+02] [-3.72372373e-01 9.26293587e-01 -5.76108141e-02 -2.63237677e+01] [-1.57296905e-01 -1.81311853e-03 9.87549693e-01 -1.78750735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:-26.34, Z:-17.88 [[ 9.15155630e-01 3.75636027e-01 1.46245508e-01 1.11624868e+02] [-3.71198253e-01 9.26765923e-01 -5.75915059e-02 -2.63352863e+01] [-1.57168798e-01 -1.58088619e-03 9.87570489e-01 -1.78804516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:-26.35, Z:-17.89 [[ 9.15624440e-01 3.74393178e-01 1.46497895e-01 1.11655231e+02] [-3.69919289e-01 9.27269082e-01 -5.77214875e-02 -2.63469344e+01] [-1.57453499e-01 -1.34119225e-03 9.87525492e-01 -1.78858465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:-26.36, Z:-17.89 [[ 9.16196974e-01 3.72961850e-01 1.46569311e-01 1.11684873e+02] [-3.68460206e-01 9.27846067e-01 -5.77819400e-02 -2.63580457e+01] [-1.57544218e-01 -1.06531992e-03 9.87511359e-01 -1.78911671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:-26.37, Z:-17.90 [[ 9.17437502e-01 3.69607046e-01 1.47306016e-01 1.11714818e+02] [-3.65011905e-01 9.29188042e-01 -5.81024266e-02 -2.63702688e+01] [-1.58350054e-01 -4.63104258e-04 9.87382928e-01 -1.78966200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.74, Y:-26.38, Z:-17.90 [[ 9.18050158e-01 3.68051827e-01 1.47383040e-01 1.11743491e+02] [-3.63426491e-01 9.29805262e-01 -5.81666554e-02 -2.63824537e+01] [-1.58445870e-01 -1.62993988e-04 9.87367652e-01 -1.79016075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.77, Y:-26.39, Z:-17.91 [[ 9.18536787e-01 3.66694004e-01 1.47735165e-01 1.11773446e+02] [-3.62023855e-01 9.30341602e-01 -5.83372211e-02 -2.63945620e+01] [-1.58836080e-01 1.01229562e-04 9.87304963e-01 -1.79067166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:-26.41, Z:-17.91 [[ 9.18923702e-01 3.65649385e-01 1.47918077e-01 1.11802753e+02] [-3.60948691e-01 9.30752614e-01 -5.84432500e-02 -2.64059309e+01] [-1.59044875e-01 3.14051355e-04 9.87271305e-01 -1.79121810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.83, Y:-26.42, Z:-17.92 [[ 9.19479577e-01 3.64382324e-01 1.47590071e-01 1.11832674e+02] [-3.59681351e-01 9.31249272e-01 -5.83448302e-02 -2.64186118e+01] [-1.58702971e-01 5.61483876e-04 9.87326213e-01 -1.79176787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.86, Y:-26.43, Z:-17.92 [[ 9.19449187e-01 3.64502226e-01 1.47483287e-01 1.11862201e+02] [-3.59804302e-01 9.31202341e-01 -5.83357823e-02 -2.64312586e+01] [-1.58600304e-01 5.71666486e-04 9.87342705e-01 -1.79231171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:-26.44, Z:-17.93 [[ 9.19222395e-01 3.65028144e-01 1.47596219e-01 1.11891857e+02] [-3.60324253e-01 9.30996343e-01 -5.84143943e-02 -2.64433080e+01] [-1.58734438e-01 5.13322126e-04 9.87321181e-01 -1.79279870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:-26.45, Z:-17.93 [[ 9.18901107e-01 3.65864165e-01 1.47526843e-01 1.11921479e+02] [-3.61170368e-01 9.30668176e-01 -5.84184123e-02 -2.64549456e+01] [-1.58671741e-01 3.98419598e-04 9.87331312e-01 -1.79336075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.95, Y:-26.47, Z:-17.94 [[ 9.18870557e-01 3.65945353e-01 1.47515754e-01 1.11952127e+02] [-3.61248103e-01 9.30636248e-01 -5.84464000e-02 -2.64672237e+01] [-1.58671696e-01 4.14889918e-04 9.87331313e-01 -1.79392844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.98, Y:-26.48, Z:-17.94 [[ 9.18213458e-01 3.67883680e-01 1.46784342e-01 1.11981910e+02] [-3.63255716e-01 9.29871813e-01 -5.81695392e-02 -2.64792992e+01] [-1.57890246e-01 9.18025412e-05 9.87456663e-01 -1.79445950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:-26.49, Z:-17.95 [[ 9.17937290e-01 3.68627410e-01 1.46645709e-01 1.12012277e+02] [-3.64012458e-01 9.29577233e-01 -5.81472084e-02 -2.64916226e+01] [-1.57753167e-01 -5.37396779e-06 9.87478576e-01 -1.79500841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:-26.50, Z:-17.96 [[ 9.17646857e-01 3.69351657e-01 1.46641055e-01 1.12042389e+02] [-3.64740986e-01 9.29289699e-01 -5.81779123e-02 -2.65040847e+01] [-1.57760130e-01 -9.92245241e-05 9.87477459e-01 -1.79557810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:-26.52, Z:-17.96 [[ 9.17563676e-01 3.69499569e-01 1.46788856e-01 1.12071787e+02] [-3.64876196e-01 9.29230897e-01 -5.82692160e-02 -2.65164274e+01] [-1.57931191e-01 -9.40435484e-05 9.87450115e-01 -1.79615681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:-26.53, Z:-17.97 [[ 9.17862065e-01 3.68576888e-01 1.47242340e-01 1.12100794e+02] [-3.63908057e-01 9.29597262e-01 -5.84795460e-02 -2.65306054e+01] [-1.58430285e-01 9.34828696e-05 9.87370162e-01 -1.79667613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.13, Y:-26.54, Z:-17.97 [[ 9.18301696e-01 3.67569328e-01 1.47019670e-01 1.12129644e+02] [-3.62896646e-01 9.29996076e-01 -5.84236608e-02 -2.65436559e+01] [-1.58202462e-01 2.97601738e-04 9.87406650e-01 -1.79720225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32587156000001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:112.16, Y:-26.56, Z:-17.98 [[ 9.19169806e-01 3.65473581e-01 1.46819373e-01 1.12159251e+02] [-3.60782320e-01 9.30821460e-01 -5.83740225e-02 -2.65577940e+01] [-1.57996787e-01 6.85804779e-04 9.87439388e-01 -1.79775683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35587156000001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.19, Y:-26.57, Z:-17.98 [[ 9.19377439e-01 3.64816909e-01 1.47152127e-01 1.12189048e+02] [-3.60090710e-01 9.31078908e-01 -5.85384262e-02 -2.65708933e+01] [-1.58366050e-01 8.30794262e-04 9.87380121e-01 -1.79827950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:-26.58, Z:-17.99 [[ 9.19360245e-01 3.64678688e-01 1.47601476e-01 1.12218426e+02] [-3.59916442e-01 9.31133002e-01 -5.87493669e-02 -2.65844878e+01] [-1.58861247e-01 8.87634332e-04 9.87300520e-01 -1.79885213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.25, Y:-26.60, Z:-17.99 [[ 9.19370527e-01 3.64564733e-01 1.47818773e-01 1.12247899e+02] [-3.59781732e-01 9.31177574e-01 -5.88679178e-02 -2.65974286e+01] [-1.59106693e-01 9.38934381e-04 9.87260948e-01 -1.79940802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:-26.61, Z:-18.00 [[ 9.18996663e-01 3.65375291e-01 1.48141925e-01 1.12276548e+02] [-3.60576466e-01 9.30859929e-01 -5.90288565e-02 -2.66118283e+01] [-1.59467067e-01 8.30830461e-04 9.87202899e-01 -1.79990223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:-26.62, Z:-18.00 [[ 9.18824220e-01 3.65950541e-01 1.47791250e-01 1.12305916e+02] [-3.61177178e-01 9.30633993e-01 -5.89187393e-02 -2.66246577e+01] [-1.59100905e-01 7.57138215e-04 9.87262037e-01 -1.80048947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:-26.64, Z:-18.01 [[ 9.18633199e-01 3.66556804e-01 1.47475949e-01 1.12335177e+02] [-3.61806642e-01 9.30395425e-01 -5.88243771e-02 -2.66380696e+01] [-1.58773424e-01 6.80247684e-04 9.87314812e-01 -1.80104180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:-26.65, Z:-18.02 [[ 9.18409896e-01 3.67017427e-01 1.47720924e-01 1.12364296e+02] [-3.62252179e-01 9.30213851e-01 -5.89537896e-02 -2.66512653e+01] [-1.59049118e-01 6.31517165e-04 9.87270469e-01 -1.80158804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:-26.66, Z:-18.02 [[ 9.18161078e-01 3.67573567e-01 1.47884778e-01 1.12394132e+02] [-3.62800101e-01 9.29994277e-01 -5.90485520e-02 -2.66649994e+01] [-1.59236684e-01 5.63469702e-04 9.87240275e-01 -1.80211785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:-26.68, Z:-18.03 [[ 9.18143815e-01 3.67785052e-01 1.47465554e-01 1.12422952e+02] [-3.63036510e-01 9.29910667e-01 -5.89121750e-02 -2.66768520e+01] [-1.58796809e-01 5.54468989e-04 9.87311129e-01 -1.80270683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.45, Y:-26.69, Z:-18.03 [[ 9.18111212e-01 3.66824502e-01 1.50038618e-01 1.12451628e+02] [-3.62739299e-01 9.30280873e-01 -5.47512429e-02 -2.66924496e+01] [-1.59662154e-01 -4.15717308e-03 9.87162963e-01 -1.80326916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:-26.70, Z:-18.04 [[ 9.18402772e-01 3.67931887e-01 1.45473275e-01 1.12481716e+02] [-3.62498774e-01 9.29837477e-01 -6.32210853e-02 -2.67003193e+01] [-1.58527556e-01 5.32853604e-03 9.87340175e-01 -1.80390347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:-26.71, Z:-18.04 [[ 9.18465981e-01 3.67063688e-01 1.47256548e-01 1.12509615e+02] [-3.62307975e-01 9.30195513e-01 -5.89002374e-02 -2.67144480e+01] [-1.58597518e-01 7.45642613e-04 9.87343036e-01 -1.80439819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:-26.73, Z:-18.05 [[ 9.18319944e-01 3.67263358e-01 1.47668906e-01 1.12539180e+02] [-3.62478384e-01 9.30116700e-01 -5.90960735e-02 -2.67269055e+01] [-1.59053138e-01 7.42316575e-04 9.87269745e-01 -1.80497673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:-26.74, Z:-18.05 [[ 9.17908586e-01 3.67574487e-01 1.49441707e-01 1.12567841e+02] [-3.62671526e-01 9.29993798e-01 -5.98406303e-02 -2.67410998e+01] [-1.60975750e-01 7.29976287e-04 9.86958092e-01 -1.80547338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:112.60, Y:-26.75, Z:-18.06 [[ 9.17804970e-01 3.67811881e-01 1.49494002e-01 1.12597421e+02] [-3.62903367e-01 9.29899943e-01 -5.98935910e-02 -2.67542013e+01] [-1.61044039e-01 7.18758724e-04 9.86946960e-01 -1.80596217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:-26.77, Z:-18.07 [[ 9.17670332e-01 3.68166346e-01 1.49447995e-01 1.12624955e+02] [-3.63314743e-01 9.29759863e-01 -5.95734376e-02 -2.67665795e+01] [-1.60883683e-01 3.72116202e-04 9.86973304e-01 -1.80651098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:-26.78, Z:-18.07 [[ 9.17927181e-01 3.68163775e-01 1.47868607e-01 1.12652636e+02] [-3.63328465e-01 9.29760546e-01 -5.94790124e-02 -2.67776480e+01] [-1.59380415e-01 8.72528186e-04 9.87216857e-01 -1.80712062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:-26.79, Z:-18.08 [[ 9.17955529e-01 3.68301138e-01 1.47349645e-01 1.12680281e+02] [-3.63531708e-01 9.29706310e-01 -5.90836240e-02 -2.67891389e+01] [-1.58752460e-01 6.69871323e-04 9.87318190e-01 -1.80762668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:112.71, Y:-26.80, Z:-18.08 [[ 9.17933984e-01 3.68631707e-01 1.46655601e-01 1.12708508e+02] [-3.63910166e-01 9.29575324e-01 -5.88141861e-02 -2.68011335e+01] [-1.58008202e-01 6.18075854e-04 9.87437606e-01 -1.80822561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:112.74, Y:-26.82, Z:-18.09 [[ 9.17707447e-01 3.69752116e-01 1.45246050e-01 1.12738001e+02] [-3.65135230e-01 9.29130343e-01 -5.82500588e-02 -2.68154518e+01] [-1.56490595e-01 4.22062742e-04 9.87679359e-01 -1.80881616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:-26.83, Z:-18.09 [[ 9.17518087e-01 3.70216248e-01 1.45260075e-01 1.12768098e+02] [-3.65599149e-01 9.28945526e-01 -5.82878361e-02 -2.68282000e+01] [-1.56517801e-01 3.73184170e-04 9.87675067e-01 -1.80943653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:-26.84, Z:-18.10 [[ 9.17182608e-01 3.70935881e-01 1.45542557e-01 1.12797211e+02] [-3.66304450e-01 9.28658437e-01 -5.84342116e-02 -2.68410127e+01] [-1.56834669e-01 2.81956538e-04 9.87624831e-01 -1.80991998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01587156000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:112.83, Y:-26.85, Z:-18.10 [[ 9.16685064e-01 3.72109997e-01 1.45679937e-01 1.12826800e+02] [-3.67479635e-01 9.28188633e-01 -5.85199099e-02 -2.68540294e+01] [-1.56994305e-01 1.09917462e-04 9.87599502e-01 -1.81036686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04587156000001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:112.86, Y:-26.87, Z:-18.11 [[ 9.15645323e-01 3.74501511e-01 1.46089903e-01 1.12857126e+02] [-3.69869896e-01 9.27226264e-01 -5.87172468e-02 -2.68667030e+01] [-1.57448093e-01 -2.70084879e-04 9.87527227e-01 -1.81091197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.89, Y:-26.88, Z:-18.11 [[ 9.15025909e-01 3.75911223e-01 1.46350056e-01 1.12886894e+02] [-3.71275665e-01 9.26655556e-01 -5.88545716e-02 -2.68790185e+01] [-1.57740187e-01 -4.82756688e-04 9.87480532e-01 -1.81144216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10587156000001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.92, Y:-26.89, Z:-18.12 [[ 9.14283056e-01 3.77618811e-01 1.46596475e-01 1.12916382e+02] [-3.72983866e-01 9.25960839e-01 -5.89877931e-02 -2.68913730e+01] [-1.58017495e-01 -7.46580101e-04 9.87436030e-01 -1.81199382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.95, Y:-26.90, Z:-18.13 [[ 9.12791683e-01 3.81122239e-01 1.46823646e-01 1.12945637e+02] [-3.76514612e-01 9.24523690e-01 -5.90990116e-02 -2.69048262e+01] [-1.58265886e-01 -1.33616178e-03 9.87395627e-01 -1.81253920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:-26.92, Z:-18.13 [[ 9.12053794e-01 3.82754745e-01 1.47162096e-01 1.12975938e+02] [-3.78141540e-01 9.23848618e-01 -5.92680891e-02 -2.69174678e+01] [-1.58640641e-01 -1.59241598e-03 9.87335106e-01 -1.81308385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:-26.93, Z:-18.14 [[ 9.11275427e-01 3.84400370e-01 1.47693779e-01 1.13006664e+02] [-3.79769696e-01 9.23164620e-01 -5.95152356e-02 -2.69290799e+01] [-1.59223350e-01 -1.85484967e-03 9.87240844e-01 -1.81361089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:-26.94, Z:-18.14 [[ 9.10458171e-01 3.86150785e-01 1.48167103e-01 1.13035789e+02] [-3.81507807e-01 9.22433198e-01 -5.97393299e-02 -2.69398300e+01] [-1.59742644e-01 -2.13674560e-03 9.87156382e-01 -1.81415000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:-26.95, Z:-18.15 [[ 9.09055898e-01 3.89312674e-01 1.48502581e-01 1.13066327e+02] [-3.84685330e-01 9.21101795e-01 -5.99055904e-02 -2.69501829e+01] [-1.60107999e-01 -2.66923417e-03 9.87095894e-01 -1.81472497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:-26.96, Z:-18.15 [[ 9.08370185e-01 3.90889154e-01 1.48557318e-01 1.13096213e+02] [-3.86274055e-01 9.20433134e-01 -5.99599840e-02 -2.69618070e+01] [-1.60174786e-01 -2.91797598e-03 9.87084355e-01 -1.81528853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:113.13, Y:-26.97, Z:-18.16 [[ 9.07781895e-01 3.92383046e-01 1.48214630e-01 1.13126723e+02] [-3.87803730e-01 9.19796535e-01 -5.98548274e-02 -2.69729229e+01] [-1.59813323e-01 -3.14305781e-03 9.87142251e-01 -1.81582859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:113.16, Y:-26.98, Z:-18.16 [[ 9.07176967e-01 3.93843903e-01 1.48043678e-01 1.13155825e+02] [-3.89289132e-01 9.19171178e-01 -5.98190340e-02 -2.69834744e+01] [-1.59636844e-01 -3.36534510e-03 9.87170073e-01 -1.81643578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:-26.99, Z:-18.17 [[ 9.06755357e-01 3.95055519e-01 1.47396945e-01 1.13185688e+02] [-3.90551658e-01 9.18650448e-01 -5.95882212e-02 -2.69945776e+01] [-1.58946926e-01 -3.53418260e-03 9.87280803e-01 -1.81695480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.22, Y:-27.00, Z:-18.18 [[ 9.06005134e-01 3.97180250e-01 1.46296088e-01 1.13216840e+02] [-3.92766501e-01 9.17732550e-01 -5.91729933e-02 -2.70048814e+01] [-1.57763026e-01 -3.84916682e-03 9.87469499e-01 -1.81761003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:-27.02, Z:-18.18 [[ 9.05792108e-01 3.97732220e-01 1.46115496e-01 1.13246526e+02] [-3.93331230e-01 9.17493214e-01 -5.91332840e-02 -2.70154000e+01] [-1.57579189e-01 -3.90932594e-03 9.87498616e-01 -1.81818334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:-27.03, Z:-18.19 [[ 9.05667915e-01 3.98112694e-01 1.45848931e-01 1.13276641e+02] [-3.93727826e-01 9.17328056e-01 -5.90562121e-02 -2.70262443e+01] [-1.57302345e-01 -3.93946622e-03 9.87542634e-01 -1.81874069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:-27.04, Z:-18.19 [[ 9.05632565e-01 3.98246305e-01 1.45703595e-01 1.13307386e+02] [-3.93867209e-01 9.17270095e-01 -5.90270664e-02 -2.70369786e+01] [-1.57156862e-01 -3.93103487e-03 9.87565830e-01 -1.81927956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.34, Y:-27.05, Z:-18.20 [[ 9.05453440e-01 3.98371799e-01 1.46471763e-01 1.13339288e+02] [-3.93942502e-01 9.17215546e-01 -5.93712613e-02 -2.70459664e+01] [-1.57998015e-01 -3.94354009e-03 9.87431555e-01 -1.81982621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:-27.06, Z:-18.20 [[ 9.05421253e-01 3.98267740e-01 1.46952925e-01 1.13369301e+02] [-3.93802425e-01 9.17260888e-01 -5.95996022e-02 -2.70555964e+01] [-1.58530769e-01 -3.90767160e-03 9.87346305e-01 -1.82035458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:-27.07, Z:-18.21 [[ 9.05479090e-01 3.98166621e-01 1.46870553e-01 1.13399844e+02] [-3.93700095e-01 9.17304992e-01 -5.95968734e-02 -2.70659346e+01] [-1.58454577e-01 -3.85922801e-03 9.87358726e-01 -1.82095844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:-27.08, Z:-18.22 [[ 9.05697216e-01 3.97854533e-01 1.46370499e-01 1.13430743e+02] [-3.93409335e-01 9.17440801e-01 -5.94261934e-02 -2.70760096e+01] [-1.57929248e-01 -3.76138256e-03 9.87443267e-01 -1.82157860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:113.46, Y:-27.09, Z:-18.22 [[ 9.05629336e-01 3.97966345e-01 1.46486496e-01 1.13461344e+02] [-3.93510324e-01 9.17392335e-01 -5.95056921e-02 -2.70860558e+01] [-1.58066851e-01 -3.75384806e-03 9.87421277e-01 -1.82207688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.49, Y:-27.10, Z:-18.23 [[ 9.05587780e-01 3.97955504e-01 1.46772579e-01 1.13491520e+02] [-3.93476549e-01 9.17397140e-01 -5.96547814e-02 -2.70956245e+01] [-1.58388693e-01 -3.72892698e-03 9.87369798e-01 -1.82261618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:-27.11, Z:-18.23 [[ 9.05754354e-01 3.97545496e-01 1.46855809e-01 1.13521478e+02] [-3.93050857e-01 9.17575287e-01 -5.97211546e-02 -2.71050722e+01] [-1.58493137e-01 -3.62910557e-03 9.87353409e-01 -1.82318261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:113.55, Y:-27.11, Z:-18.24 [[ 9.06050045e-01 3.96831812e-01 1.46962000e-01 1.13552953e+02] [-3.92320983e-01 9.17884649e-01 -5.97663659e-02 -2.71139902e+01] [-1.58611359e-01 -3.50495781e-03 9.87334873e-01 -1.82372515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:-27.12, Z:-18.24 [[ 9.06457079e-01 3.96007585e-01 1.46675002e-01 1.13583363e+02] [-3.91498347e-01 9.18241228e-01 -5.96832662e-02 -2.71238251e+01] [-1.58318060e-01 -3.32270150e-03 9.87382576e-01 -1.82429324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:-27.13, Z:-18.25 [[ 9.06836397e-01 3.95280008e-01 1.46292395e-01 1.13612073e+02] [-3.90781549e-01 9.18555216e-01 -5.95491067e-02 -2.71333296e+01] [-1.57916214e-01 -3.16707159e-03 9.87447436e-01 -1.82482101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:-27.14, Z:-18.25 [[ 9.07370436e-01 3.94099268e-01 1.46166544e-01 1.13640163e+02] [-3.89593021e-01 9.19063123e-01 -5.95000359e-02 -2.71430208e+01] [-1.57785201e-01 -2.95689213e-03 9.87469031e-01 -1.82537033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:-27.15, Z:-18.26 [[ 9.08179889e-01 3.91946162e-01 1.46926833e-01 1.13669045e+02] [-3.87364630e-01 9.19984491e-01 -5.98095267e-02 -2.71518756e+01] [-1.58612522e-01 -2.59644890e-03 9.87337494e-01 -1.82586667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.70, Y:-27.16, Z:-18.26 [[ 9.08536441e-01 3.90993907e-01 1.47259294e-01 1.13697365e+02] [-3.86379066e-01 9.20390043e-01 -5.99448616e-02 -2.71613067e+01] [-1.58974063e-01 -2.43581717e-03 9.87279755e-01 -1.82637466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:-27.17, Z:-18.27 [[ 9.08892883e-01 3.90114066e-01 1.47393154e-01 1.13726931e+02] [-3.85479329e-01 9.20763703e-01 -5.99990798e-02 -2.71711603e+01] [-1.59120752e-01 -2.28427763e-03 9.87256486e-01 -1.82685632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:-27.18, Z:-18.27 [[ 9.09250272e-01 3.89629271e-01 1.46468340e-01 1.13755451e+02] [-3.85045884e-01 9.20969204e-01 -5.96271183e-02 -2.71787727e+01] [-1.58125301e-01 -2.18105784e-03 9.87416646e-01 -1.82745143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:-27.19, Z:-18.28 [[ 9.09436932e-01 3.89568592e-01 1.45467447e-01 1.13782989e+02] [-3.85047519e-01 9.20994929e-01 -5.92178123e-02 -2.71875195e+01] [-1.57044180e-01 -2.15701381e-03 9.87589223e-01 -1.82796644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:-27.20, Z:-18.28 [[ 9.09450594e-01 3.89536198e-01 1.45468788e-01 1.13809795e+02] [-3.85015240e-01 9.21008635e-01 -5.92145173e-02 -2.71983418e+01] [-1.57044208e-01 -2.15502233e-03 9.87589223e-01 -1.82846419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:-27.21, Z:-18.29 [[ 9.09585834e-01 3.89373159e-01 1.45059141e-01 1.13836662e+02] [-3.84876637e-01 9.21077642e-01 -5.90419476e-02 -2.72067447e+01] [-1.56600081e-01 -2.12615499e-03 9.87659807e-01 -1.82901217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:113.86, Y:-27.21, Z:-18.30 [[ 9.09610444e-01 3.89234218e-01 1.45277542e-01 1.13862774e+02] [-3.84723560e-01 9.21136396e-01 -5.91229499e-02 -2.72148305e+01] [-1.56833106e-01 -2.11284030e-03 9.87622860e-01 -1.82953592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:-27.22, Z:-18.30 [[ 9.09782141e-01 3.88729634e-01 1.45553177e-01 1.13890910e+02] [-3.84196999e-01 9.21349614e-01 -5.92246083e-02 -2.72241629e+01] [-1.57127724e-01 -2.03960298e-03 9.87576184e-01 -1.83001543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:-27.23, Z:-18.30 [[ 9.10099322e-01 3.87732749e-01 1.46227698e-01 1.13917762e+02] [-3.83145546e-01 9.21769918e-01 -5.94954516e-02 -2.72298280e+01] [-1.57856628e-01 -1.87972102e-03 9.87460253e-01 -1.83049560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:-27.24, Z:-18.31 [[ 9.10442861e-01 3.86872717e-01 1.46366995e-01 1.13945245e+02] [-3.82267364e-01 9.22131480e-01 -5.95415576e-02 -2.72388701e+01] [-1.58004618e-01 -1.74213945e-03 9.87436836e-01 -1.83100846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:-27.25, Z:-18.32 [[ 9.10665870e-01 3.86324709e-01 1.46427090e-01 1.13971767e+02] [-3.81709119e-01 9.22361368e-01 -5.95622055e-02 -2.72482020e+01] [-1.58069042e-01 -1.65128767e-03 9.87426681e-01 -1.83151717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:-27.26, Z:-18.32 [[ 9.11149956e-01 3.85144167e-01 1.46525521e-01 1.13998376e+02] [-3.80508448e-01 9.22855272e-01 -5.95941891e-02 -2.72568619e+01] [-1.58174204e-01 -1.45495593e-03 9.87410150e-01 -1.83198896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:-27.26, Z:-18.33 [[ 9.11917832e-01 3.83272715e-01 1.46655696e-01 1.14025049e+02] [-3.78606276e-01 9.23634519e-01 -5.96369266e-02 -2.72649802e+01] [-1.58313470e-01 -1.14079015e-03 9.87388244e-01 -1.83255497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:-27.27, Z:-18.33 [[ 9.12412660e-01 3.82057794e-01 1.46748017e-01 1.14050781e+02] [-3.77371446e-01 9.24137954e-01 -5.96643378e-02 -2.72748346e+01] [-1.58410638e-01 -9.40014345e-04 9.87372871e-01 -1.83299863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:-27.29, Z:-18.33 [[ 9.12967361e-01 3.80530792e-01 1.47264777e-01 1.14077578e+02] [-3.75793066e-01 9.24767995e-01 -5.98642444e-02 -2.72854161e+01] [-1.58965941e-01 -6.86980988e-04 9.87283828e-01 -1.83347645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:-27.30, Z:-18.34 [[ 9.13719899e-01 3.78690476e-01 1.47341334e-01 1.14104409e+02] [-3.73925297e-01 9.25523302e-01 -5.98873026e-02 -2.72955274e+01] [-1.59046589e-01 -3.74431951e-04 9.87271008e-01 -1.83397030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:-27.30, Z:-18.34 [[ 9.15304300e-01 3.74991318e-01 1.46967856e-01 1.14129969e+02] [-3.70204215e-01 9.27028286e-01 -5.97276770e-02 -2.73047857e+01] [-1.58640720e-01 2.60879768e-04 9.87336343e-01 -1.83448166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:-27.32, Z:-18.35 [[ 9.15953234e-01 3.73427938e-01 1.46905573e-01 1.14154848e+02] [-3.68626526e-01 9.27659044e-01 -5.96923926e-02 -2.73158565e+01] [-1.58569090e-01 5.22149091e-04 9.87347746e-01 -1.83497069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:-27.33, Z:-18.35 [[ 9.16692252e-01 3.71510935e-01 1.47156181e-01 1.14180772e+02] [-3.66670072e-01 9.28428193e-01 -5.97841815e-02 -2.73280597e+01] [-1.58834424e-01 8.45928565e-04 9.87304872e-01 -1.83548843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:-27.34, Z:-18.36 [[ 9.17935503e-01 3.68520228e-01 1.46926017e-01 1.14210225e+02] [-3.63658214e-01 9.29618747e-01 -5.96798799e-02 -2.73426775e+01] [-1.58578423e-01 1.35142760e-03 9.87345460e-01 -1.83602850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:-27.36, Z:-18.37 [[ 9.18171786e-01 3.67956963e-01 1.46861314e-01 1.14239023e+02] [-3.63086590e-01 9.29841644e-01 -5.96879080e-02 -2.73550768e+01] [-1.58520347e-01 1.48037930e-03 9.87354601e-01 -1.83652288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:-27.37, Z:-18.37 [[ 9.18374604e-01 3.67330721e-01 1.47160555e-01 1.14265150e+02] [-3.62426774e-01 9.30088976e-01 -5.98442181e-02 -2.73664166e+01] [-1.58855029e-01 1.62448498e-03 9.87300583e-01 -1.83703328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.29, Y:-27.38, Z:-18.38 [[ 9.18376005e-01 3.67313382e-01 1.47195080e-01 1.14290729e+02] [-3.62408152e-01 9.30095830e-01 -5.98504683e-02 -2.73785558e+01] [-1.58889408e-01 1.62053705e-03 9.87295057e-01 -1.83753747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:-27.39, Z:-18.38 [[ 9.18061299e-01 3.68003297e-01 1.47434812e-01 1.14318241e+02] [-3.63092446e-01 9.29823285e-01 -5.99377568e-02 -2.73941269e+01] [-1.59145614e-01 1.49406832e-03 9.87253990e-01 -1.83804511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:-27.41, Z:-18.39 [[ 9.17492998e-01 3.69360834e-01 1.47577683e-01 1.14347696e+02] [-3.64453284e-01 9.29285166e-01 -6.00240343e-02 -2.74078892e+01] [-1.59312279e-01 1.28646012e-03 9.87227402e-01 -1.83855787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:-27.42, Z:-18.39 [[ 9.16821742e-01 3.70978615e-01 1.47691438e-01 1.14376483e+02] [-3.66078699e-01 9.28640829e-01 -6.01048906e-02 -2.74211768e+01] [-1.59449929e-01 1.03878095e-03 9.87205471e-01 -1.83904812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.41, Y:-27.43, Z:-18.40 [[ 9.15949517e-01 3.73004008e-01 1.48001659e-01 1.14405658e+02] [-3.68106312e-01 9.27829462e-01 -6.02514178e-02 -2.74349392e+01] [-1.59794320e-01 7.06912105e-04 9.87150077e-01 -1.83961046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.43, Y:-27.45, Z:-18.40 [[ 9.15002799e-01 3.75184593e-01 1.48345537e-01 1.14434340e+02] [-3.70286908e-01 9.26950048e-01 -6.04252719e-02 -2.74488686e+01] [-1.60179534e-01 3.58882736e-04 9.87087832e-01 -1.84012476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:114.46, Y:-27.46, Z:-18.41 [[ 9.12970972e-01 3.80033952e-01 1.48520030e-01 1.14462400e+02] [-3.75182901e-01 9.24972423e-01 -6.05293964e-02 -2.74619778e+01] [-1.60380158e-01 -4.60593938e-04 9.87055213e-01 -1.84062579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:-27.47, Z:-18.41 [[ 9.11962828e-01 3.82449241e-01 1.48513899e-01 1.14488740e+02] [-3.77629644e-01 9.23976083e-01 -6.05313943e-02 -2.74733524e+01] [-1.60373476e-01 -8.80869238e-04 9.87056013e-01 -1.84113462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:-27.49, Z:-18.42 [[ 9.10968503e-01 3.84724127e-01 1.48740486e-01 1.14518036e+02] [-3.79920474e-01 9.23030709e-01 -6.06196606e-02 -2.74869735e+01] [-1.60613883e-01 -1.28695456e-03 9.87016476e-01 -1.84169435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:-27.50, Z:-18.42 [[ 9.09994919e-01 3.86917730e-01 1.49009789e-01 1.14546019e+02] [-3.82120171e-01 9.22112772e-01 -6.07635660e-02 -2.75011273e+01] [-1.60914331e-01 -1.64510990e-03 9.86967006e-01 -1.84220422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:-27.51, Z:-18.43 [[ 9.08327822e-01 3.90764106e-01 1.49144164e-01 1.14572199e+02] [-3.86004526e-01 9.20487979e-01 -6.08472475e-02 -2.75133189e+01] [-1.61062330e-01 -2.30107453e-03 9.86941554e-01 -1.84266335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.60, Y:-27.52, Z:-18.43 [[ 9.07517265e-01 3.92696270e-01 1.49003536e-01 1.14600507e+02] [-3.87971910e-01 9.19664424e-01 -6.07876994e-02 -2.75240125e+01] [-1.60904354e-01 -2.64329977e-03 9.86966464e-01 -1.84326763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:-27.53, Z:-18.44 [[ 9.06811777e-01 3.94392174e-01 1.48819401e-01 1.14626858e+02] [-3.89702158e-01 9.18937522e-01 -6.07129215e-02 -2.75341837e+01] [-1.60700433e-01 -2.94004950e-03 9.86998849e-01 -1.84378911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:-27.55, Z:-18.44 [[ 9.06117784e-01 3.96168201e-01 1.48328414e-01 1.14653442e+02] [-3.91533840e-01 9.18172205e-01 -6.05066464e-02 -2.75454319e+01] [-1.60161836e-01 -3.24944505e-03 9.87085421e-01 -1.84430700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96587156000001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:114.68, Y:-27.56, Z:-18.45 [[ 9.04864150e-01 3.99271680e-01 1.47658377e-01 1.14679645e+02] [-3.94721599e-01 9.16824833e-01 -6.02252819e-02 -2.75561012e+01] [-1.59423116e-01 -3.78825227e-03 9.87203079e-01 -1.84482396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:-27.57, Z:-18.45 [[ 9.04225099e-01 4.00772500e-01 1.47507198e-01 1.14705427e+02] [-3.96252895e-01 9.16168627e-01 -6.01555597e-02 -2.75665853e+01] [-1.59250161e-01 -4.05598727e-03 9.87229930e-01 -1.84535144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:-27.58, Z:-18.46 [[ 9.03597480e-01 4.02151151e-01 1.47600970e-01 1.14734318e+02] [-3.97645797e-01 9.15563138e-01 -6.01827297e-02 -2.75780180e+01] [-1.59340561e-01 -4.31194255e-03 9.87214259e-01 -1.84587548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:-27.59, Z:-18.46 [[ 9.02313410e-01 4.04911763e-01 1.47908668e-01 1.14762418e+02] [-4.00423562e-01 9.14343137e-01 -6.03125045e-02 -2.75869944e+01] [-1.59660518e-01 -4.80533401e-03 9.87160285e-01 -1.84632946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:-27.60, Z:-18.47 [[ 9.01987384e-01 4.05463448e-01 1.48385148e-01 1.14789863e+02] [-4.00953086e-01 9.14098036e-01 -6.05095338e-02 -2.75959039e+01] [-1.60172976e-01 -4.91664684e-03 9.87076717e-01 -1.84682205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.82, Y:-27.60, Z:-18.47 [[ 9.01890512e-01 4.05568091e-01 1.48687688e-01 1.14816614e+02] [-4.01041290e-01 9.14051436e-01 -6.06288351e-02 -2.76049354e+01] [-1.60497315e-01 -4.94933097e-03 9.87023868e-01 -1.84732840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:-27.62, Z:-18.48 [[ 9.01927598e-01 4.05319494e-01 1.49139919e-01 1.14843652e+02] [-4.00762597e-01 9.14161824e-01 -6.08070726e-02 -2.76151803e+01] [-1.60984312e-01 -4.92612418e-03 9.86944671e-01 -1.84781541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:-27.63, Z:-18.48 [[ 9.02201476e-01 4.04601179e-01 1.49433537e-01 1.14870570e+02] [-4.00017806e-01 9.14480562e-01 -6.09184430e-02 -2.76252490e+01] [-1.61301738e-01 -4.81536625e-03 9.86893389e-01 -1.84823085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:-27.63, Z:-18.49 [[ 9.02846537e-01 4.02887204e-01 1.50166676e-01 1.14898559e+02] [-3.98236363e-01 9.15238380e-01 -6.12087227e-02 -2.76330255e+01] [-1.62098517e-01 -4.53974774e-03 9.86764137e-01 -1.84871054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:-27.64, Z:-18.49 [[ 9.03208014e-01 4.02121050e-01 1.50046475e-01 1.14925336e+02] [-3.97467857e-01 9.15575928e-01 -6.11557216e-02 -2.76416754e+01] [-1.61970944e-01 -4.40231310e-03 9.86785708e-01 -1.84925959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:-27.65, Z:-18.50 [[ 9.03559148e-01 4.01582132e-01 1.49374222e-01 1.14951312e+02] [-3.96964808e-01 9.15812949e-01 -6.08735042e-02 -2.76500284e+01] [-1.61244558e-01 -4.29349782e-03 9.86905141e-01 -1.84971821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:-27.66, Z:-18.50 [[ 9.03912118e-01 4.00978144e-01 1.48860375e-01 1.14978034e+02] [-3.96386280e-01 9.16078081e-01 -6.06536625e-02 -2.76583006e+01] [-1.60688520e-01 -4.18062985e-03 9.86996313e-01 -1.85029674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:-27.67, Z:-18.51 [[ 9.04258306e-01 4.00351955e-01 1.48442674e-01 1.15004271e+02] [-3.95778902e-01 9.16352436e-01 -6.04753961e-02 -2.76666322e+01] [-1.60237249e-01 -4.06509946e-03 9.87070159e-01 -1.85079502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:-27.67, Z:-18.51 [[ 9.05279557e-01 3.98342392e-01 1.47622030e-01 1.15031312e+02] [-3.93795270e-01 9.17229340e-01 -6.01300616e-02 -2.76741619e+01] [-1.59355609e-01 -3.69834139e-03 9.87214319e-01 -1.85129142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.06, Y:-27.68, Z:-18.52 [[ 9.05875113e-01 3.97005005e-01 1.47571359e-01 1.15057133e+02] [-3.92445180e-01 9.17809877e-01 -6.00983388e-02 -2.76834757e+01] [-1.59301792e-01 -3.47207899e-03 9.87223827e-01 -1.85180897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:-27.69, Z:-18.52 [[ 9.06650460e-01 3.95310438e-01 1.47358749e-01 1.15083889e+02] [-3.90743553e-01 9.18542073e-01 -5.99994725e-02 -2.76929090e+01] [-1.59073628e-01 -3.18093187e-03 9.87261598e-01 -1.85225829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:-27.70, Z:-18.53 [[ 9.08288021e-01 3.91317316e-01 1.47931165e-01 1.15111020e+02] [-3.86663288e-01 9.20252420e-01 -6.02244629e-02 -2.76997828e+01] [-1.59700888e-01 -2.49839244e-03 9.87162289e-01 -1.85271725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:-27.71, Z:-18.53 [[ 9.09276366e-01 3.88887161e-01 1.48267548e-01 1.15138594e+02] [-3.84181369e-01 9.21283032e-01 -6.03510583e-02 -2.77087430e+01] [-1.60066128e-01 -2.08583876e-03 9.87104090e-01 -1.85319616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:115.16, Y:-27.72, Z:-18.54 [[ 9.10203895e-01 3.86615647e-01 1.48516702e-01 1.15164399e+02] [-3.81865189e-01 9.22239374e-01 -6.04443143e-02 -2.77175268e+01] [-1.60336668e-01 -1.69670789e-03 9.87060927e-01 -1.85369083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:-27.73, Z:-18.54 [[ 9.11131765e-01 3.84396443e-01 1.48587623e-01 1.15190875e+02] [-3.79613768e-01 9.23167180e-01 -6.04627636e-02 -2.77275701e+01] [-1.60412888e-01 -1.31636286e-03 9.87049124e-01 -1.85418424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:-27.74, Z:-18.55 [[ 9.12490793e-01 3.81314193e-01 1.48189202e-01 1.15218459e+02] [-3.76518181e-01 9.24445173e-01 -6.02924623e-02 -2.77363100e+01] [-1.59983164e-01 -7.79612066e-04 9.87119435e-01 -1.85471673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:-27.75, Z:-18.55 [[ 9.12912979e-01 3.80459710e-01 1.47784645e-01 1.15245529e+02] [-3.75680213e-01 9.24797278e-01 -6.01196523e-02 -2.77461341e+01] [-1.59543943e-01 -6.35755916e-04 9.87190623e-01 -1.85520829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:-27.76, Z:-18.56 [[ 9.13243262e-01 3.79871387e-01 1.47256489e-01 1.15271209e+02] [-3.75119913e-01 9.25039155e-01 -5.98966787e-02 -2.77556826e+01] [-1.58971052e-01 -5.38602808e-04 9.87283097e-01 -1.85569733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:-27.77, Z:-18.56 [[ 9.13418389e-01 3.79566402e-01 1.46956433e-01 1.15297962e+02] [-3.74832303e-01 9.25164364e-01 -5.97632283e-02 -2.77655142e+01] [-1.58642968e-01 -4.95186493e-04 9.87335892e-01 -1.85621017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.32, Y:-27.77, Z:-18.57 [[ 9.13320932e-01 3.79933134e-01 1.46614085e-01 1.15324073e+02] [-3.75227184e-01 9.25013781e-01 -5.96159842e-02 -2.77734639e+01] [-1.58270137e-01 -5.65064015e-04 9.87395688e-01 -1.85666626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71587156000001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:115.35, Y:-27.78, Z:-18.57 [[ 9.13160079e-01 3.80268197e-01 1.46747294e-01 1.15349887e+02] [-3.75559550e-01 9.24876044e-01 -5.96600969e-02 -2.77822629e+01] [-1.58409894e-01 -6.33128772e-04 9.87373235e-01 -1.85718316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:-27.79, Z:-18.58 [[ 9.13091983e-01 3.80413530e-01 1.46794333e-01 1.15376806e+02] [-3.75705708e-01 9.24816250e-01 -5.96667760e-02 -2.77918319e+01] [-1.58455833e-01 -6.70213943e-04 9.87365839e-01 -1.85764691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.40, Y:-27.80, Z:-18.58 [[ 9.12967856e-01 3.80619061e-01 1.47033409e-01 1.15402971e+02] [-3.75899799e-01 9.24731647e-01 -5.97555199e-02 -2.78015413e+01] [-1.58710537e-01 -7.14960116e-04 9.87324898e-01 -1.85815989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:-27.81, Z:-18.59 [[ 9.12925825e-01 3.80694435e-01 1.47099234e-01 1.15428562e+02] [-3.75973226e-01 9.24700603e-01 -5.97739728e-02 -2.78107061e+01] [-1.58778369e-01 -7.36170113e-04 9.87313976e-01 -1.85861252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:-27.82, Z:-18.59 [[ 9.12650920e-01 3.81318318e-01 1.47189128e-01 1.15455546e+02] [-3.76601073e-01 9.24443405e-01 -5.97998561e-02 -2.78197644e+01] [-1.58870799e-01 -8.55189808e-04 9.87299011e-01 -1.85915303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:115.48, Y:-27.83, Z:-18.60 [[ 9.12466391e-01 3.81792106e-01 1.47104975e-01 1.15481996e+02] [-3.77087727e-01 9.24247746e-01 -5.97574339e-02 -2.78301175e+01] [-1.58776358e-01 -9.44830449e-04 9.87314122e-01 -1.85963217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:-27.84, Z:-18.60 [[ 9.12377726e-01 3.82016270e-01 1.47072960e-01 1.15507307e+02] [-3.77318169e-01 9.24155066e-01 -5.97361913e-02 -2.78396235e+01] [-1.58738418e-01 -9.91329649e-04 9.87320177e-01 -1.86009508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:-27.85, Z:-18.61 [[ 9.12077495e-01 3.83048652e-01 1.46247647e-01 1.15534120e+02] [-3.78418254e-01 9.23727423e-01 -5.93908421e-02 -2.78480311e+01] [-1.57842544e-01 -1.17372877e-03 9.87463596e-01 -1.86058806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:-27.86, Z:-18.61 [[ 9.12122412e-01 3.82940148e-01 1.46251663e-01 1.15560196e+02] [-3.78309950e-01 9.23772420e-01 -5.93809503e-02 -2.78584490e+01] [-1.57842603e-01 -1.16576392e-03 9.87463596e-01 -1.86107156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.59, Y:-27.87, Z:-18.62 [[ 9.11821318e-01 3.83543581e-01 1.46547621e-01 1.15586797e+02] [-3.78905601e-01 9.23521874e-01 -5.94802004e-02 -2.78674033e+01] [-1.58153183e-01 -1.29239987e-03 9.87413743e-01 -1.86155874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:-27.88, Z:-18.62 [[ 9.11463285e-01 3.84435961e-01 1.46436576e-01 1.15613054e+02] [-3.79818442e-01 9.23150512e-01 -5.94229213e-02 -2.78768604e+01] [-1.58027308e-01 -1.45750113e-03 9.87433666e-01 -1.86203110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:-27.89, Z:-18.63 [[ 9.11188327e-01 3.85175163e-01 1.46205086e-01 1.15639084e+02] [-3.80583740e-01 9.22842105e-01 -5.93166577e-02 -2.78866692e+01] [-1.57771513e-01 -1.59463225e-03 9.87474358e-01 -1.86252015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:-27.90, Z:-18.63 [[ 9.10803990e-01 3.86117237e-01 1.46114923e-01 1.15663397e+02] [-3.81545498e-01 9.22448022e-01 -5.92678669e-02 -2.78961542e+01] [-1.57667766e-01 -1.76808126e-03 9.87490633e-01 -1.86300814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:-27.90, Z:-18.63 [[ 9.10378120e-01 3.87001135e-01 1.46430191e-01 1.15689267e+02] [-3.82423105e-01 9.22077201e-01 -5.93818523e-02 -2.79044502e+01] [-1.58000785e-01 -1.93834915e-03 9.87437084e-01 -1.86343032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:-27.91, Z:-18.64 [[ 9.10336414e-01 3.86993488e-01 1.46709421e-01 1.15715633e+02] [-3.82401364e-01 9.22080361e-01 -5.94727202e-02 -2.79139746e+01] [-1.58293431e-01 -1.96169990e-03 9.87390167e-01 -1.86393959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:-27.92, Z:-18.64 [[ 9.10444209e-01 3.86797081e-01 1.46558388e-01 1.15741906e+02] [-3.82213848e-01 9.22162820e-01 -5.93995536e-02 -2.79238304e+01] [-1.58126271e-01 -1.93666600e-03 9.87417000e-01 -1.86440909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:115.77, Y:-27.93, Z:-18.65 [[ 9.10508141e-01 3.86527955e-01 1.46870914e-01 1.15767463e+02] [-3.81923499e-01 9.22275723e-01 -5.95141247e-02 -2.79338436e+01] [-1.58459351e-01 -1.90535823e-03 9.87363663e-01 -1.86490181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:-27.94, Z:-18.65 [[ 9.10801008e-01 3.85720071e-01 1.47178636e-01 1.15792526e+02] [-3.81087694e-01 9.22614144e-01 -5.96264284e-02 -2.79436046e+01] [-1.58788202e-01 -1.78015608e-03 9.87311064e-01 -1.86530910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:-27.95, Z:-18.66 [[ 9.11263666e-01 3.84385681e-01 1.47804528e-01 1.15817662e+02] [-3.79698502e-01 9.23171268e-01 -5.98653341e-02 -2.79537075e+01] [-1.59460270e-01 -1.56805391e-03 9.87203101e-01 -1.86576202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:-27.96, Z:-18.66 [[ 9.11532282e-01 3.83804613e-01 1.47658115e-01 1.15842537e+02] [-3.79121452e-01 9.23413144e-01 -5.97920569e-02 -2.79647261e+01] [-1.59297911e-01 -1.47796876e-03 9.87229452e-01 -1.86619589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:-27.98, Z:-18.67 [[ 9.11767356e-01 3.83182226e-01 1.47823108e-01 1.15867038e+02] [-3.78482393e-01 9.23671733e-01 -5.98465278e-02 -2.79752652e+01] [-1.59472153e-01 -1.38233349e-03 9.87201460e-01 -1.86668468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:-27.99, Z:-18.67 [[ 9.11900036e-01 3.82777568e-01 1.48052884e-01 1.15893128e+02] [-3.78060124e-01 9.23839581e-01 -5.99247160e-02 -2.79857712e+01] [-1.59714952e-01 -1.32754120e-03 9.87162282e-01 -1.86714797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.92, Y:-28.00, Z:-18.68 [[ 9.11653672e-01 3.83386217e-01 1.47995239e-01 1.15920008e+02] [-3.78681790e-01 9.23586991e-01 -5.98929997e-02 -2.79963289e+01] [-1.59648629e-01 -1.44142907e-03 9.87172851e-01 -1.86763439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:-28.01, Z:-18.68 [[ 9.11388678e-01 3.84128437e-01 1.47702473e-01 1.15945121e+02] [-3.79453756e-01 9.23278322e-01 -5.97661053e-02 -2.80070691e+01] [-1.59328352e-01 -1.57610653e-03 9.87224388e-01 -1.86812084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:-28.02, Z:-18.69 [[ 9.10927657e-01 3.85236808e-01 1.47659763e-01 1.15970312e+02] [-3.80581008e-01 9.22816036e-01 -5.97382627e-02 -2.80175686e+01] [-1.59276175e-01 -1.77926568e-03 9.87232462e-01 -1.86854071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:-28.03, Z:-18.69 [[ 9.10318732e-01 3.86627313e-01 1.47780669e-01 1.15995658e+02] [-3.81984008e-01 9.22233797e-01 -5.97749186e-02 -2.80268838e+01] [-1.59398944e-01 -2.03562409e-03 9.87212152e-01 -1.86899580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:-28.04, Z:-18.69 [[ 9.08877438e-01 3.90225924e-01 1.47192154e-01 1.16021903e+02] [-3.85668860e-01 9.20715269e-01 -5.95224718e-02 -2.80353204e+01] [-1.58749275e-01 -2.66879847e-03 9.87315322e-01 -1.86945493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.05, Y:-28.04, Z:-18.70 [[ 9.08122654e-01 3.91991524e-01 1.47159404e-01 1.16046368e+02] [-3.87461455e-01 9.19963976e-01 -5.94970947e-02 -2.80446536e+01] [-1.58703707e-01 -2.98793728e-03 9.87321734e-01 -1.86991360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:-28.05, Z:-18.70 [[ 9.07440637e-01 3.93578575e-01 1.47130542e-01 1.16072579e+02] [-3.89074244e-01 9.19285115e-01 -5.94651900e-02 -2.80539663e+01] [-1.58659142e-01 -3.28357477e-03 9.87327957e-01 -1.87038327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:-28.06, Z:-18.71 [[ 9.06364707e-01 3.96111431e-01 1.46965138e-01 1.16098898e+02] [-3.91652306e-01 9.18194855e-01 -5.93858544e-02 -2.80605890e+01] [-1.58466049e-01 -3.73399255e-03 9.87357366e-01 -1.87087903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:-28.07, Z:-18.71 [[ 9.06066876e-01 3.96728050e-01 1.47138273e-01 1.16124820e+02] [-3.92268788e-01 9.17928076e-01 -5.94411005e-02 -2.80686056e+01] [-1.58644304e-01 -3.86013970e-03 9.87328256e-01 -1.87133633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:-28.08, Z:-18.72 [[ 9.05909887e-01 3.96909382e-01 1.47615101e-01 1.16151557e+02] [-3.92425730e-01 9.17849437e-01 -5.96192671e-02 -2.80773477e+01] [-1.59151884e-01 -3.91828041e-03 9.87246334e-01 -1.87181984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:-28.09, Z:-18.72 [[ 9.06127596e-01 3.95995885e-01 1.48728070e-01 1.16178435e+02] [-3.91721482e-01 9.18236114e-01 -5.82813844e-02 -2.80871389e+01] [-1.59646674e-01 -5.44960941e-03 9.87159177e-01 -1.87225259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:-28.09, Z:-18.73 [[ 9.06717599e-01 3.95269501e-01 1.47055152e-01 1.16205219e+02] [-3.90493898e-01 9.18563323e-01 -6.12856963e-02 -2.80917934e+01] [-1.59303835e-01 -1.85531998e-03 9.87227859e-01 -1.87269347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:-28.10, Z:-18.73 [[ 9.07242200e-01 3.93836530e-01 1.47663056e-01 1.16231017e+02] [-3.89318134e-01 9.19174099e-01 -5.95849569e-02 -2.81016000e+01] [-1.59194789e-01 -3.42991798e-03 9.87241234e-01 -1.87319400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:-28.11, Z:-18.74 [[ 9.07859186e-01 3.92345307e-01 1.47840654e-01 1.16257001e+02] [-3.87798322e-01 9.19812494e-01 -5.96442604e-02 -2.81104216e+01] [-1.59386826e-01 -3.18376766e-03 9.87211073e-01 -1.87370859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:-28.12, Z:-18.74 [[ 9.08470700e-01 3.90856361e-01 1.48028010e-01 1.16282198e+02] [-3.86280133e-01 9.20446997e-01 -5.97074869e-02 -2.81185599e+01] [-1.59588988e-01 -2.93777697e-03 9.87179175e-01 -1.87417896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:116.31, Y:-28.12, Z:-18.75 [[ 9.09692267e-01 3.88114482e-01 1.47740067e-01 1.16309277e+02] [-3.83522531e-01 9.21607873e-01 -5.95768090e-02 -2.81242937e+01] [-1.59281031e-01 -2.46508188e-03 9.87230204e-01 -1.87470197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:-28.13, Z:-18.75 [[ 9.10415481e-01 3.86610792e-01 1.47226855e-01 1.16334778e+02] [-3.82033270e-01 9.22240333e-01 -5.93578023e-02 -2.81319537e+01] [-1.58726911e-01 -2.20529475e-03 9.87320062e-01 -1.87518957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:-28.14, Z:-18.76 [[ 9.11106406e-01 3.85092364e-01 1.46931915e-01 1.16360824e+02] [-3.80515939e-01 9.22875977e-01 -5.92245878e-02 -2.81408631e+01] [-1.58406871e-01 -1.95003404e-03 9.87371997e-01 -1.87564459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:-28.15, Z:-18.76 [[ 9.11795370e-01 3.83477027e-01 1.46882852e-01 1.16386042e+02] [-3.78884830e-01 9.23548887e-01 -5.91923968e-02 -2.81497325e+01] [-1.58352419e-01 -1.68033093e-03 9.87381227e-01 -1.87609736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.41, Y:-28.16, Z:-18.77 [[ 9.12598059e-01 3.81680490e-01 1.46576895e-01 1.16411424e+02] [-3.77086810e-01 9.24293298e-01 -5.90545248e-02 -2.81587474e+01] [-1.58020002e-01 -1.37916913e-03 9.87434948e-01 -1.87659554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:-28.17, Z:-18.77 [[ 9.14382424e-01 3.77756245e-01 1.45619374e-01 1.16438505e+02] [-3.73175478e-01 9.25904810e-01 -5.86544589e-02 -2.81663092e+01] [-1.56986767e-01 -7.08973283e-04 9.87600452e-01 -1.87705522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:-28.17, Z:-18.78 [[ 9.15150251e-01 3.75693137e-01 1.46132421e-01 1.16463432e+02] [-3.71055686e-01 9.26744049e-01 -5.88485029e-02 -2.81745419e+01] [-1.57536330e-01 -3.68043524e-04 9.87513124e-01 -1.87750289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:-28.18, Z:-18.78 [[ 9.15760245e-01 3.73864299e-01 1.46998842e-01 1.16489871e+02] [-3.69150332e-01 9.27483413e-01 -5.91823524e-02 -2.81840458e+01] [-1.58465157e-01 -6.78260454e-05 9.87364568e-01 -1.87796833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:-28.19, Z:-18.78 [[ 9.16860822e-01 3.71032052e-01 1.47314119e-01 1.16515615e+02] [-3.66263382e-01 9.28619969e-01 -5.92966033e-02 -2.81940379e+01] [-1.58799773e-01 4.10965097e-04 9.87310723e-01 -1.87841235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:-28.20, Z:-18.79 [[ 9.17165594e-01 3.70068382e-01 1.47840001e-01 1.16541374e+02] [-3.65255011e-01 9.29004344e-01 -5.94954337e-02 -2.82042536e+01] [-1.59361382e-01 5.67863654e-04 9.87220151e-01 -1.87888739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:-28.21, Z:-18.79 [[ 9.17318145e-01 3.69570948e-01 1.48137554e-01 1.16565766e+02] [-3.64733652e-01 9.29202292e-01 -5.96025470e-02 -2.82136059e+01] [-1.59677125e-01 6.43746802e-04 9.87169085e-01 -1.87933673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.59, Y:-28.22, Z:-18.80 [[ 9.17356022e-01 3.69572795e-01 1.47898201e-01 1.16591082e+02] [-3.64753642e-01 9.29201568e-01 -5.94914021e-02 -2.82238423e+01] [-1.59413644e-01 6.28388518e-04 9.87211677e-01 -1.87981555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:-28.23, Z:-18.80 [[ 9.16970090e-01 3.70631969e-01 1.47640775e-01 1.16616489e+02] [-3.65845326e-01 9.28779714e-01 -5.93754217e-02 -2.82338765e+01] [-1.59132186e-01 4.31798324e-04 9.87257191e-01 -1.88026667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21587156000001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.64, Y:-28.24, Z:-18.81 [[ 9.16533316e-01 3.71769388e-01 1.47493062e-01 1.16642186e+02] [-3.67008997e-01 9.28325090e-01 -5.93036546e-02 -2.82428496e+01] [-1.58968793e-01 2.22494456e-04 9.87283583e-01 -1.88067088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:-28.25, Z:-18.81 [[ 9.15942524e-01 3.73295967e-01 1.47307207e-01 1.16668135e+02] [-3.68569605e-01 9.27712304e-01 -5.92142540e-02 -2.82519792e+01] [-1.58763151e-01 -5.61058949e-05 9.87316696e-01 -1.88120197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27587156000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:116.69, Y:-28.26, Z:-18.82 [[ 9.15357308e-01 3.75514707e-01 1.45291785e-01 1.16694388e+02] [-3.70947238e-01 9.26816328e-01 -5.83921321e-02 -2.82614984e+01] [-1.56585903e-01 -4.45921297e-04 9.87664243e-01 -1.88178312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:-28.27, Z:-18.82 [[ 9.14864942e-01 3.76704213e-01 1.45313706e-01 1.16719537e+02] [-3.72152215e-01 9.26333363e-01 -5.83886137e-02 -2.82713363e+01] [-1.56604170e-01 -6.61121656e-04 9.87661226e-01 -1.88227801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:-28.28, Z:-18.83 [[ 9.14412526e-01 3.77795589e-01 1.45327993e-01 1.16745041e+02] [-3.73258723e-01 9.25888627e-01 -5.83795843e-02 -2.82809671e+01] [-1.56613086e-01 -8.61918051e-04 9.87659657e-01 -1.88275636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.77, Y:-28.29, Z:-18.83 [[ 9.14044135e-01 3.78665695e-01 1.45380916e-01 1.16770605e+02] [-3.74138349e-01 9.25532952e-01 -5.83887829e-02 -2.82904708e+01] [-1.56664657e-01 -1.02265139e-03 9.87651325e-01 -1.88319575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:-28.30, Z:-18.84 [[ 9.13236974e-01 3.80425925e-01 1.45857278e-01 1.16795636e+02] [-3.75892809e-01 9.24810424e-01 -5.85685532e-02 -2.82985202e+01] [-1.57171327e-01 -1.33973355e-03 9.87570443e-01 -1.88365651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:-28.31, Z:-18.84 [[ 9.13001959e-01 3.80978659e-01 1.45885859e-01 1.16820958e+02] [-3.76454474e-01 9.24582683e-01 -5.85567331e-02 -2.83080978e+01] [-1.57192404e-01 -1.45697209e-03 9.87566922e-01 -1.88418523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.85, Y:-28.32, Z:-18.85 [[ 9.12909270e-01 3.81287331e-01 1.45659314e-01 1.16845694e+02] [-3.76783080e-01 9.24455334e-01 -5.84537954e-02 -2.83177489e+01] [-1.56943221e-01 -1.51895313e-03 9.87606459e-01 -1.88465645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:-28.33, Z:-18.85 [[ 9.12942461e-01 3.81173283e-01 1.45749758e-01 1.16871655e+02] [-3.76664231e-01 9.24502373e-01 -5.84758066e-02 -2.83272307e+01] [-1.57035412e-01 -1.51367384e-03 9.87591812e-01 -1.88511920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:-28.34, Z:-18.86 [[ 9.13339774e-01 3.80134678e-01 1.45972886e-01 1.16896331e+02] [-3.75600539e-01 9.24930163e-01 -5.85527791e-02 -2.83365631e+01] [-1.57272667e-01 -1.34891277e-03 9.87554297e-01 -1.88563078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:-28.35, Z:-18.86 [[ 9.13788742e-01 3.79137040e-01 1.45757467e-01 1.16921436e+02] [-3.74605965e-01 9.25339771e-01 -5.84523591e-02 -2.83465015e+01] [-1.57036636e-01 -1.18850894e-03 9.87592063e-01 -1.88606303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:-28.36, Z:-18.87 [[ 9.14303540e-01 3.77885820e-01 1.45778407e-01 1.16947255e+02] [-3.73341390e-01 9.25851670e-01 -5.84370719e-02 -2.83568976e+01] [-1.57051723e-01 -9.95891522e-04 9.87589877e-01 -1.88656099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.97, Y:-28.37, Z:-18.87 [[ 9.15623296e-01 3.74312383e-01 1.46711347e-01 1.16971244e+02] [-3.69665545e-01 9.27302584e-01 -5.87988280e-02 -2.83677126e+01] [-1.58054940e-01 -3.96553194e-04 9.87430240e-01 -1.88700410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:-28.38, Z:-18.87 [[ 9.16404666e-01 3.72227562e-01 1.47136437e-01 1.16997011e+02] [-3.67530547e-01 9.28141497e-01 -5.89462353e-02 -2.83789328e+01] [-1.58504846e-01 -5.85299467e-05 9.87358198e-01 -1.88744579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:-28.39, Z:-18.88 [[ 9.17267042e-01 3.70090073e-01 1.47154716e-01 1.17022053e+02] [-3.65366495e-01 9.28995828e-01 -5.89412950e-02 -2.83899056e+01] [-1.58519706e-01 2.99504361e-04 9.87355768e-01 -1.88791161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:-28.40, Z:-18.88 [[ 9.17999923e-01 3.68273028e-01 1.47143189e-01 1.17046575e+02] [-3.63528956e-01 9.29717492e-01 -5.89243864e-02 -2.84008054e+01] [-1.58501858e-01 6.01772522e-04 9.87358496e-01 -1.88835714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:-28.41, Z:-18.89 [[ 9.18610932e-01 3.66811476e-01 1.46980601e-01 1.17070560e+02] [-3.62062379e-01 9.30294923e-01 -5.88403749e-02 -2.84115610e+01] [-1.58318632e-01 8.35265384e-04 9.87387722e-01 -1.88879994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:-28.42, Z:-18.89 [[ 9.19580331e-01 3.64317338e-01 1.47122030e-01 1.17095310e+02] [-3.59529670e-01 9.31274025e-01 -5.88821405e-02 -2.84243542e+01] [-1.58462709e-01 1.25212349e-03 9.87364169e-01 -1.88924759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.12, Y:-28.44, Z:-18.90 [[ 9.19840111e-01 3.63493751e-01 1.47534619e-01 1.17120393e+02] [-3.58670465e-01 9.31595605e-01 -5.90349617e-02 -2.84366951e+01] [-1.58901443e-01 1.38641512e-03 9.87293477e-01 -1.88976356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:-28.45, Z:-18.90 [[ 9.20088132e-01 3.62736843e-01 1.47850641e-01 1.17146374e+02] [-3.57885082e-01 9.31890395e-01 -5.91486287e-02 -2.84490979e+01] [-1.59235979e-01 1.50841235e-03 9.87239397e-01 -1.89025404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:-28.46, Z:-18.91 [[ 9.20117947e-01 3.62660064e-01 1.47853444e-01 1.17173243e+02] [-3.57808444e-01 9.31920268e-01 -5.91416228e-02 -2.84597406e+01] [-1.59235925e-01 1.51405788e-03 9.87239397e-01 -1.89075170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87587156000001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:117.20, Y:-28.47, Z:-18.91 [[ 9.20245574e-01 3.62379230e-01 1.47747684e-01 1.17198272e+02] [-3.57533327e-01 9.32029451e-01 -5.90848718e-02 -2.84712034e+01] [-1.59116323e-01 1.54787058e-03 9.87258629e-01 -1.89118351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.22, Y:-28.49, Z:-18.92 [[ 9.19985583e-01 3.61588548e-01 1.51262187e-01 1.17222926e+02] [-3.57357679e-01 9.32332182e-01 -5.52466386e-02 -2.84864723e+01] [-1.61003157e-01 -3.22859307e-03 9.86948610e-01 -1.89172695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:-28.49, Z:-18.92 [[ 9.19972422e-01 3.63462767e-01 1.46784059e-01 1.17249812e+02] [-3.57847477e-01 9.31587355e-01 -6.39545481e-02 -2.84926450e+01] [-1.59987270e-01 6.31011526e-03 9.87098909e-01 -1.89214708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.27, Y:-28.51, Z:-18.93 [[ 9.19854209e-01 3.63109795e-01 1.48389724e-01 1.17272525e+02] [-3.58236563e-01 9.31745315e-01 -5.93062652e-02 -2.85065207e+01] [-1.59796116e-01 1.39449307e-03 9.87149055e-01 -1.89258645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:-28.52, Z:-18.93 [[ 9.19709150e-01 3.63624756e-01 1.48027416e-01 1.17297764e+02] [-3.58784396e-01 9.31544619e-01 -5.91471077e-02 -2.85181961e+01] [-1.59401495e-01 1.28820929e-03 9.87212998e-01 -1.89308707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:-28.53, Z:-18.94 [[ 9.19414577e-01 3.64817038e-01 1.46919585e-01 1.17322583e+02] [-3.60066416e-01 9.31078623e-01 -5.86922001e-02 -2.85316881e+01] [-1.58205599e-01 1.06165590e-03 9.87405621e-01 -1.89360981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:-28.54, Z:-18.94 [[ 9.19084187e-01 3.65737948e-01 1.46697000e-01 1.17347720e+02] [-3.61014777e-01 9.30717440e-01 -5.85950233e-02 -2.85438168e+01] [-1.57963880e-01 8.93974564e-04 9.87444486e-01 -1.89408670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:-28.56, Z:-18.95 [[ 9.18731467e-01 3.66611917e-01 1.46724895e-01 1.17373953e+02] [-3.61899717e-01 9.30373669e-01 -5.85954823e-02 -2.85560183e+01] [-1.57990781e-01 7.33815444e-04 9.87440315e-01 -1.89456154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.40, Y:-28.57, Z:-18.95 [[ 9.18264995e-01 3.67701845e-01 1.46917501e-01 1.17399087e+02] [-3.62992356e-01 9.29943580e-01 -5.86641877e-02 -2.85671303e+01] [-1.58195917e-01 5.39340217e-04 9.87407596e-01 -1.89506717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:-28.58, Z:-18.96 [[ 9.17244161e-01 3.70140703e-01 1.47170004e-01 1.17423896e+02] [-3.65447726e-01 9.28975698e-01 -5.87546669e-02 -2.85789325e+01] [-1.58464851e-01 1.09431796e-04 9.87364613e-01 -1.89553660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:117.45, Y:-28.59, Z:-18.96 [[ 9.16806348e-01 3.71288879e-01 1.47005740e-01 1.17449885e+02] [-3.66623099e-01 9.28517398e-01 -5.86766168e-02 -2.85912584e+01] [-1.58283362e-01 -1.00605201e-04 9.87393724e-01 -1.89608284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.47, Y:-28.60, Z:-18.96 [[ 9.16325212e-01 3.72457891e-01 1.47048381e-01 1.17474651e+02] [-3.67805661e-01 9.28049041e-01 -5.86853674e-02 -2.86028389e+01] [-1.58325937e-01 -3.10345168e-04 9.87386855e-01 -1.89649048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:-28.61, Z:-18.97 [[ 9.15262478e-01 3.75099222e-01 1.46952950e-01 1.17500852e+02] [-3.70488748e-01 9.26984341e-01 -5.86354698e-02 -2.86130965e+01] [-1.58217203e-01 -7.77569241e-04 9.87404027e-01 -1.89702269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:-28.62, Z:-18.97 [[ 9.14814088e-01 3.76357187e-01 1.46527994e-01 1.17526450e+02] [-3.71790835e-01 9.26474106e-01 -5.84577307e-02 -2.86229479e+01] [-1.57755379e-01 -9.99809692e-04 9.87477717e-01 -1.89748603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:-28.64, Z:-18.98 [[ 9.14185140e-01 3.76341020e-01 1.50442567e-01 1.17550781e+02] [-3.72708473e-01 9.26447972e-01 -5.27498773e-02 -2.86375227e+01] [-1.59229154e-01 -7.84806550e-03 9.87210456e-01 -1.89812640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:-28.64, Z:-18.99 [[ 9.13955634e-01 3.79437967e-01 1.43916394e-01 1.17580219e+02] [-3.73959696e-01 9.25203229e-01 -6.44447879e-02 -2.86412896e+01] [-1.57604712e-01 5.08074580e-03 9.87489210e-01 -1.89854559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35587156000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:117.60, Y:-28.66, Z:-18.99 [[ 9.13461046e-01 3.78973422e-01 1.48216273e-01 1.17603800e+02] [-3.74780819e-01 9.25398633e-01 -5.63622894e-02 -2.86555898e+01] [-1.58518946e-01 -4.06386014e-03 9.87347572e-01 -1.89907393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:-28.66, Z:-19.00 [[ 9.13426232e-01 3.79959685e-01 1.45887481e-01 1.17631141e+02] [-3.75063549e-01 9.25002680e-01 -6.08060560e-02 -2.86633971e+01] [-1.58050160e-01 8.24770460e-04 9.87430740e-01 -1.89957005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:-28.68, Z:-19.00 [[ 9.13412217e-01 3.79621482e-01 1.46852485e-01 1.17655517e+02] [-3.75085017e-01 9.25140486e-01 -5.85346963e-02 -2.86756479e+01] [-1.58080208e-01 -1.61586029e-03 9.87424953e-01 -1.90005601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:-28.69, Z:-19.00 [[ 9.13532446e-01 3.79426405e-01 1.46608573e-01 1.17680010e+02] [-3.74904221e-01 9.25220557e-01 -5.84272790e-02 -2.86864415e+01] [-1.57814117e-01 -1.58895759e-03 9.87467559e-01 -1.90049239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:-28.70, Z:-19.01 [[ 9.13634689e-01 3.79105180e-01 1.46802309e-01 1.17704978e+02] [-3.74569123e-01 9.25352292e-01 -5.84902425e-02 -2.86968156e+01] [-1.58017807e-01 -1.54889779e-03 9.87435048e-01 -1.90096778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:-28.71, Z:-19.01 [[ 9.13651665e-01 3.78932174e-01 1.47142930e-01 1.17731206e+02] [-3.74374982e-01 9.25423172e-01 -5.86116436e-02 -2.87067413e+01] [-1.58379315e-01 -1.53600611e-03 9.87377148e-01 -1.90140590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:-28.72, Z:-19.02 [[ 9.13639748e-01 3.78945994e-01 1.47181331e-01 1.17757892e+02] [-3.74388645e-01 9.25417489e-01 -5.86141094e-02 -2.87174247e+01] [-1.58415759e-01 -1.55083883e-03 9.87371279e-01 -1.90191474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:117.78, Y:-28.73, Z:-19.02 [[ 9.13656553e-01 3.79043752e-01 1.46824855e-01 1.17784222e+02] [-3.74511183e-01 9.25377417e-01 -5.84637472e-02 -2.87285545e+01] [-1.58028724e-01 -1.57176466e-03 9.87433265e-01 -1.90242159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:-28.74, Z:-19.03 [[ 9.13384946e-01 3.79478584e-01 1.47390449e-01 1.17810627e+02] [-3.74917794e-01 9.25199029e-01 -5.86805227e-02 -2.87400924e+01] [-1.58633502e-01 -1.66139584e-03 9.87336139e-01 -1.90285353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:-28.75, Z:-19.03 [[ 9.13072638e-01 3.80013267e-01 1.47946865e-01 1.17836326e+02] [-3.75426094e-01 9.24979344e-01 -5.88936368e-02 -2.87495579e+01] [-1.59228157e-01 -1.76894528e-03 9.87240226e-01 -1.90334384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:-28.76, Z:-19.04 [[ 9.12708093e-01 3.80858642e-01 1.48022405e-01 1.17860934e+02] [-3.76279460e-01 9.24631268e-01 -5.89133806e-02 -2.87588846e+01] [-1.59303814e-01 -1.92707143e-03 9.87227725e-01 -1.90378040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:-28.77, Z:-19.04 [[ 9.12268195e-01 3.81882705e-01 1.48095713e-01 1.17886917e+02] [-3.77314750e-01 9.24208365e-01 -5.89277348e-02 -2.87691456e+01] [-1.59374780e-01 -2.12079863e-03 9.87215874e-01 -1.90430625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:-28.78, Z:-19.05 [[ 9.11218807e-01 3.84651169e-01 1.47389837e-01 1.17911383e+02] [-3.80164710e-01 9.23058342e-01 -5.86352327e-02 -2.87784908e+01] [-1.58603530e-01 -2.60288796e-03 9.87338921e-01 -1.90476717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:-28.79, Z:-19.05 [[ 9.10650396e-01 3.86136438e-01 1.47018734e-01 1.17937535e+02] [-3.81695379e-01 9.22437201e-01 -5.84657894e-02 -2.87878137e+01] [-1.58191321e-01 -2.87447722e-03 9.87404296e-01 -1.90527521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:-28.80, Z:-19.06 [[ 9.10087474e-01 3.87576652e-01 1.46714449e-01 1.17962343e+02] [-3.83174585e-01 9.21832168e-01 -5.83325976e-02 -2.87964018e+01] [-1.57854452e-01 -3.12948184e-03 9.87457431e-01 -1.90573945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:-28.81, Z:-19.06 [[ 9.09501604e-01 3.89011937e-01 1.46548779e-01 1.17988794e+02] [-3.84640650e-01 9.21226484e-01 -5.82523512e-02 -2.88055290e+01] [-1.57665477e-01 -3.38801089e-03 9.87486769e-01 -1.90622283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:-28.81, Z:-19.07 [[ 9.08506019e-01 3.91421182e-01 1.46308820e-01 1.18015370e+02] [-3.87097198e-01 9.20203747e-01 -5.81448455e-02 -2.88120956e+01] [-1.57393049e-01 -3.81079228e-03 9.87528686e-01 -1.90669113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:-28.82, Z:-19.07 [[ 9.08149323e-01 3.92350412e-01 1.46034112e-01 1.18041131e+02] [-3.88056631e-01 9.19807234e-01 -5.80233004e-02 -2.88203001e+01] [-1.57088699e-01 -3.97568457e-03 9.87576496e-01 -1.90716463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.07, Y:-28.83, Z:-19.08 [[ 9.07842060e-01 3.93104529e-01 1.45916492e-01 1.18066949e+02] [-3.88829721e-01 9.19484575e-01 -5.79617559e-02 -2.88288721e+01] [-1.56952993e-01 -4.11654909e-03 9.87597495e-01 -1.90760860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:118.09, Y:-28.84, Z:-19.08 [[ 9.07411807e-01 3.94115585e-01 1.45865412e-01 1.18094229e+02] [-3.89858624e-01 9.19050819e-01 -5.79296543e-02 -2.88358924e+01] [-1.56888706e-01 -4.30083676e-03 9.87606924e-01 -1.90812845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:-28.84, Z:-19.09 [[ 9.07427380e-01 3.94169978e-01 1.45621354e-01 1.18120288e+02] [-3.89929966e-01 9.19027429e-01 -5.78204646e-02 -2.88437726e+01] [-1.56621110e-01 -4.31425692e-03 9.87649338e-01 -1.90857462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:-28.85, Z:-19.09 [[ 9.07347790e-01 3.94392011e-01 1.45516082e-01 1.18145533e+02] [-3.90163299e-01 9.18931938e-01 -5.77641191e-02 -2.88515324e+01] [-1.56501082e-01 -4.36288873e-03 9.87668151e-01 -1.90899363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:-28.86, Z:-19.09 [[ 9.07403114e-01 3.94233103e-01 1.45601680e-01 1.18171954e+02] [-3.89999522e-01 9.19000180e-01 -5.77844425e-02 -2.88594207e+01] [-1.56588510e-01 -4.35080244e-03 9.87654347e-01 -1.90949979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:-28.87, Z:-19.10 [[ 9.07734114e-01 3.93296745e-01 1.46070013e-01 1.18197943e+02] [-3.89025600e-01 9.19401931e-01 -5.79583580e-02 -2.88655438e+01] [-1.57091886e-01 -4.21419574e-03 9.87575000e-01 -1.90993185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:-28.87, Z:-19.10 [[ 9.08077326e-01 3.92255624e-01 1.46734776e-01 1.18223737e+02] [-3.87934089e-01 9.19847265e-01 -5.82078305e-02 -2.88741421e+01] [-1.57805931e-01 -4.06621039e-03 9.87461773e-01 -1.91041008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:-28.88, Z:-19.11 [[ 9.08609017e-01 3.90817547e-01 1.47279665e-01 1.18249101e+02] [-3.86446915e-01 9.20460146e-01 -5.84114897e-02 -2.88824232e+01] [-1.58393297e-01 -3.84256591e-03 9.87368623e-01 -1.91083762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:-28.89, Z:-19.11 [[ 9.10027947e-01 3.87398742e-01 1.47551181e-01 1.18275205e+02] [-3.82969560e-01 9.21906471e-01 -5.85044784e-02 -2.88880687e+01] [-1.58692950e-01 -3.26690047e-03 9.87322579e-01 -1.91122969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:-28.90, Z:-19.12 [[ 9.10876395e-01 3.85431754e-01 1.47467135e-01 1.18301521e+02] [-3.80984097e-01 9.22731680e-01 -5.84582340e-02 -2.88961443e+01] [-1.58604257e-01 -2.93440783e-03 9.87337875e-01 -1.91172229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:-28.91, Z:-19.12 [[ 9.11606935e-01 3.83812936e-01 1.47174815e-01 1.18327269e+02] [-3.79367375e-01 9.23406983e-01 -5.83089943e-02 -2.89051925e+01] [-1.58281998e-01 -2.67843974e-03 9.87390315e-01 -1.91223038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.35, Y:-28.92, Z:-19.13 [[ 9.12179882e-01 3.82635943e-01 1.46688781e-01 1.18353055e+02] [-3.78206661e-01 9.23895881e-01 -5.81044080e-02 -2.89151362e+01] [-1.57757996e-01 -2.47700196e-03 9.87474698e-01 -1.91276434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.38, Y:-28.92, Z:-19.13 [[ 9.13196401e-01 3.79575632e-01 1.48306010e-01 1.18378669e+02] [-3.75617299e-01 9.25144221e-01 -5.49528480e-02 -2.89249852e+01] [-1.58063210e-01 -5.52355985e-03 9.87413547e-01 -1.91329756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:-28.93, Z:-19.14 [[ 9.13780906e-01 3.79543057e-01 1.44746412e-01 1.18406160e+02] [-3.74624770e-01 9.25172950e-01 -6.09203904e-02 -2.89297395e+01] [-1.57037376e-01 1.44229844e-03 9.87591607e-01 -1.91371322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:-28.94, Z:-19.14 [[ 9.14184392e-01 3.78092324e-01 1.45990043e-01 1.18430088e+02] [-3.73656596e-01 9.25766267e-01 -5.77716857e-02 -2.89405245e+01] [-1.56995688e-01 -1.73616901e-03 9.87597762e-01 -1.91417423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:-28.95, Z:-19.15 [[ 9.14540737e-01 3.77283414e-01 1.45850838e-01 1.18455791e+02] [-3.72848321e-01 9.26096450e-01 -5.77017761e-02 -2.89500834e+01] [-1.56841866e-01 -1.60961506e-03 9.87622417e-01 -1.91460959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:-28.96, Z:-19.15 [[ 9.15111892e-01 3.75948427e-01 1.45715494e-01 1.18480543e+02] [-3.71506659e-01 9.26639545e-01 -5.76364091e-02 -2.89587158e+01] [-1.56694057e-01 -1.39051297e-03 9.87646212e-01 -1.91513441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40587156000001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.51, Y:-28.97, Z:-19.16 [[ 9.15264252e-01 3.75624104e-01 1.45594923e-01 1.18506119e+02] [-3.71189228e-01 9.26771113e-01 -5.75661397e-02 -2.89683000e+01] [-1.56556399e-01 -1.35503747e-03 9.87668091e-01 -1.91562469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:-28.98, Z:-19.16 [[ 9.15484641e-01 3.75203913e-01 1.45292451e-01 1.18531631e+02] [-3.70784247e-01 9.26941397e-01 -5.74342087e-02 -2.89774705e+01] [-1.56227128e-01 -1.29201628e-03 9.87720312e-01 -1.91603793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46587156000001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:118.56, Y:-28.99, Z:-19.17 [[ 9.15619968e-01 3.74802544e-01 1.45475517e-01 1.18557543e+02] [-3.70368969e-01 9.27103833e-01 -5.74918168e-02 -2.89866518e+01] [-1.56418989e-01 -1.23896185e-03 9.87690015e-01 -1.91654333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49587156000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.58, Y:-29.00, Z:-19.17 [[ 9.15808795e-01 3.74221262e-01 1.45783052e-01 1.18583866e+02] [-3.69763466e-01 9.27338728e-01 -5.76008979e-02 -2.89959763e+01] [-1.56745750e-01 -1.15383753e-03 9.87638314e-01 -1.91699496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:-29.00, Z:-19.17 [[ 9.15971275e-01 3.73763834e-01 1.45935672e-01 1.18608550e+02] [-3.69292874e-01 9.27523267e-01 -5.76486054e-02 -2.90049906e+01] [-1.56905695e-01 -1.08853714e-03 9.87612990e-01 -1.91735727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.63, Y:-29.01, Z:-19.18 [[ 9.16143616e-01 3.73269667e-01 1.46118547e-01 1.18632933e+02] [-3.68783536e-01 9.27722327e-01 -5.77060347e-02 -2.90143740e+01] [-1.57097351e-01 -1.01909939e-03 9.87582596e-01 -1.91779690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.66, Y:-29.02, Z:-19.18 [[ 9.16384638e-01 3.72699943e-01 1.46061450e-01 1.18657701e+02] [-3.68212423e-01 9.27951442e-01 -5.76691603e-02 -2.90241696e+01] [-1.57031226e-01 -9.34508014e-04 9.87593196e-01 -1.91819678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:-29.03, Z:-19.19 [[ 9.16586580e-01 3.72052056e-01 1.46445581e-01 1.18682426e+02] [-3.67534792e-01 9.28211486e-01 -5.78066856e-02 -2.90337358e+01] [-1.57439566e-01 -8.39013844e-04 9.87528267e-01 -1.91859410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:-29.04, Z:-19.19 [[ 9.16741931e-01 3.71680790e-01 1.46415919e-01 1.18708119e+02] [-3.67162904e-01 9.28360258e-01 -5.77809086e-02 -2.90441514e+01] [-1.57402774e-01 -7.88312286e-04 9.87534174e-01 -1.91903485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.73, Y:-29.05, Z:-19.20 [[ 9.17124568e-01 3.70853976e-01 1.46115894e-01 1.18732817e+02] [-3.66346226e-01 9.28690959e-01 -5.76501973e-02 -2.90541762e+01] [-1.57076315e-01 -6.56594158e-04 9.87586249e-01 -1.91956799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:-29.06, Z:-19.20 [[ 9.17590090e-01 3.69728836e-01 1.46044564e-01 1.18757319e+02] [-3.65213640e-01 9.29139581e-01 -5.76076118e-02 -2.90638263e+01] [-1.56994980e-01 -4.77293096e-04 9.87599285e-01 -1.91993644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:-29.07, Z:-19.20 [[ 9.17936650e-01 3.68772607e-01 1.46284214e-01 1.18782830e+02] [-3.64232692e-01 9.29519584e-01 -5.76878608e-02 -2.90744767e+01] [-1.57247744e-01 -3.27691276e-04 9.87559132e-01 -1.92044031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:-29.08, Z:-19.21 [[ 9.17959062e-01 3.68715097e-01 1.46288545e-01 1.18808995e+02] [-3.64176207e-01 9.29542397e-01 -5.76768765e-02 -2.90846643e+01] [-1.57247739e-01 -3.29795881e-04 9.87559132e-01 -1.92092507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79587156000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.83, Y:-29.10, Z:-19.21 [[ 9.18240797e-01 3.68006091e-01 1.46305692e-01 1.18834353e+02] [-3.63458813e-01 9.29823354e-01 -5.76734082e-02 -2.90958194e+01] [-1.57262615e-01 -2.18016798e-04 9.87556795e-01 -1.92141577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.86, Y:-29.11, Z:-19.22 [[ 9.18870049e-01 3.66428501e-01 1.46314685e-01 1.18858653e+02] [-3.61862732e-01 9.30446211e-01 -5.76646455e-02 -2.91069398e+01] [-1.57267914e-01 4.04838793e-05 9.87555974e-01 -1.92180925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:-29.12, Z:-19.22 [[ 9.18987352e-01 3.66048472e-01 1.46529049e-01 1.18883478e+02] [-3.61466658e-01 9.30595781e-01 -5.77351490e-02 -2.91172515e+01] [-1.57493178e-01 9.25060426e-05 9.87520071e-01 -1.92224324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:-29.13, Z:-19.23 [[ 9.19078741e-01 3.65779637e-01 1.46627164e-01 1.18909340e+02] [-3.61191731e-01 9.30701479e-01 -5.77519760e-02 -2.91279125e+01] [-1.57590615e-01 1.18094382e-04 9.87504524e-01 -1.92271558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91587156000001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:118.93, Y:-29.14, Z:-19.23 [[ 9.19160148e-01 3.65758979e-01 1.46167683e-01 1.18933747e+02] [-3.61201645e-01 9.30709599e-01 -5.75587875e-02 -2.91382808e+01] [-1.57092309e-01 1.09736123e-04 9.87583918e-01 -1.92320826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.96, Y:-29.15, Z:-19.24 [[ 9.18999567e-01 3.66640525e-01 1.44963860e-01 1.18959545e+02] [-3.62171578e-01 9.30362683e-01 -5.70703563e-02 -2.91490949e+01] [-1.55793272e-01 -5.41574018e-05 9.87789681e-01 -1.92367683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.99, Y:-29.16, Z:-19.24 [[ 9.18749827e-01 3.67561938e-01 1.44211568e-01 1.18985254e+02] [-3.63152661e-01 9.29999018e-01 -5.67624134e-02 -2.91598601e+01] [-1.54980319e-01 -2.20357268e-04 9.87917533e-01 -1.92416068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:-29.17, Z:-19.25 [[ 9.18503998e-01 3.68477606e-01 1.43438697e-01 1.19009290e+02] [-3.64128711e-01 9.29636545e-01 -5.64462169e-02 -2.91701761e+01] [-1.54145022e-01 -3.84072215e-04 9.88048159e-01 -1.92460779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:-29.18, Z:-19.25 [[ 9.18123922e-01 3.69642035e-01 1.42874875e-01 1.19034484e+02] [-3.65343702e-01 9.29174051e-01 -5.62099880e-02 -2.91805838e+01] [-1.53533201e-01 -5.90701087e-04 9.88143313e-01 -1.92507297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:-29.19, Z:-19.26 [[ 9.17100678e-01 3.72121168e-01 1.43011130e-01 1.19059579e+02] [-3.67846312e-01 9.28183603e-01 -5.62520131e-02 -2.91889574e+01] [-1.53673150e-01 -1.01735739e-03 9.88121211e-01 -1.92550008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:-29.20, Z:-19.26 [[ 9.16612934e-01 3.73367822e-01 1.42888763e-01 1.19085757e+02] [-3.69117525e-01 9.27682562e-01 -5.61900041e-02 -2.91980432e+01] [-1.53534953e-01 -1.23826187e-03 9.88142442e-01 -1.92587726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:-29.21, Z:-19.26 [[ 9.16071681e-01 3.74419250e-01 1.43606759e-01 1.19112250e+02] [-3.70140587e-01 9.27258417e-01 -5.64603689e-02 -2.92073349e+01] [-1.54300425e-01 -1.43294522e-03 9.88022938e-01 -1.92634255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:-29.22, Z:-19.27 [[ 9.14915320e-01 3.76692047e-01 1.45027789e-01 1.19137532e+02] [-3.72358088e-01 9.26336707e-01 -5.70066704e-02 -2.92159064e+01] [-1.55818524e-01 -1.84599410e-03 9.87783974e-01 -1.92666165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18587156000001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:119.16, Y:-29.23, Z:-19.27 [[ 9.14494891e-01 3.77576177e-01 1.45379931e-01 1.19162473e+02] [-3.73234424e-01 9.25976333e-01 -5.71305137e-02 -2.92256093e+01] [-1.56189497e-01 -2.01523199e-03 9.87725053e-01 -1.92716284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:-29.24, Z:-19.28 [[ 9.14235619e-01 3.78242612e-01 1.45278217e-01 1.19187842e+02] [-3.73917615e-01 9.25704025e-01 -5.70760461e-02 -2.92355744e+01] [-1.56073223e-01 -2.14113018e-03 9.87743167e-01 -1.92761569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:-29.25, Z:-19.28 [[ 9.14112270e-01 3.78494822e-01 1.45397482e-01 1.19212967e+02] [-3.74167780e-01 9.25600800e-01 -5.71106953e-02 -2.92450951e+01] [-1.56196128e-01 -2.19746554e-03 9.87723616e-01 -1.92806342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:-29.25, Z:-19.28 [[ 9.13999228e-01 3.78848430e-01 1.45187047e-01 1.19239591e+02] [-3.74540670e-01 9.25455954e-01 -5.70137104e-02 -2.92515485e+01] [-1.55963772e-01 -2.26796664e-03 9.87760172e-01 -1.92848666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30587156000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.27, Y:-29.26, Z:-19.29 [[ 9.13988121e-01 3.78893819e-01 1.45138518e-01 1.19266094e+02] [-3.74591491e-01 9.25437327e-01 -5.69821871e-02 -2.92596522e+01] [-1.55906801e-01 -2.28661174e-03 9.87769123e-01 -1.92892638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:-29.27, Z:-19.29 [[ 9.14001667e-01 3.78752853e-01 1.45420867e-01 1.19292377e+02] [-3.74437331e-01 9.25494997e-01 -5.70587031e-02 -2.92681818e+01] [-1.56197431e-01 -2.29925133e-03 9.87723178e-01 -1.92939184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:-29.27, Z:-19.30 [[ 9.14118795e-01 3.78042934e-01 1.46527708e-01 1.19318653e+02] [-3.73653982e-01 9.25785435e-01 -5.74806904e-02 -2.92749968e+01] [-1.57383387e-01 -2.20648218e-03 9.87535114e-01 -1.92981893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:-29.28, Z:-19.30 [[ 9.14290720e-01 3.77543822e-01 1.46741753e-01 1.19344874e+02] [-3.73137639e-01 9.25989255e-01 -5.75517292e-02 -2.92827480e+01] [-1.57609586e-01 -2.13585923e-03 9.87499193e-01 -1.93023877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:-29.29, Z:-19.31 [[ 9.14417280e-01 3.77330430e-01 1.46501827e-01 1.19371643e+02] [-3.72941442e-01 9.26076250e-01 -5.74235245e-02 -2.92904724e+01] [-1.57339505e-01 -2.12753936e-03 9.87542279e-01 -1.93070142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:-29.29, Z:-19.31 [[ 9.14529581e-01 3.77363101e-01 1.45714567e-01 1.19398415e+02] [-3.73023791e-01 9.26062925e-01 -5.71026318e-02 -2.92946452e+01] [-1.56489284e-01 -2.13295420e-03 9.87677353e-01 -1.93113647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:-29.30, Z:-19.32 [[ 9.14691135e-01 3.77112040e-01 1.45350049e-01 1.19424171e+02] [-3.72793682e-01 9.26165270e-01 -5.69452725e-02 -2.93018385e+01] [-1.56092915e-01 -2.09824389e-03 9.87740148e-01 -1.93158567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:-29.31, Z:-19.32 [[ 9.14911569e-01 3.76616087e-01 1.45248560e-01 1.19450101e+02] [-3.72299833e-01 9.26367217e-01 -5.68912491e-02 -2.93090045e+01] [-1.55979664e-01 -2.02555255e-03 9.87758190e-01 -1.93211000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54587156000001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:119.48, Y:-29.32, Z:-19.33 [[ 9.15281683e-01 3.75931646e-01 1.44688765e-01 1.19476039e+02] [-3.71642208e-01 9.26645423e-01 -5.66597747e-02 -2.93175045e+01] [-1.55375384e-01 -1.91279797e-03 9.87853649e-01 -1.93261682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:-29.32, Z:-19.33 [[ 9.16693162e-01 3.72549468e-01 1.44501007e-01 1.19502620e+02] [-3.68234368e-01 9.28011328e-01 -5.65546211e-02 -2.93245194e+01] [-1.55167966e-01 -1.36700271e-03 9.87887156e-01 -1.93307432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:-29.33, Z:-19.33 [[ 9.17639668e-01 3.70126745e-01 1.44719151e-01 1.19528875e+02] [-3.65773546e-01 9.28980740e-01 -5.66082786e-02 -2.93330844e+01] [-1.55393542e-01 -9.88435008e-04 9.87852150e-01 -1.93348648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:-29.34, Z:-19.34 [[ 9.18635489e-01 3.67579899e-01 1.44892570e-01 1.19555218e+02] [-3.63190040e-01 9.29991758e-01 -5.66420770e-02 -2.93412647e+01] [-1.55569385e-01 -5.90116236e-04 9.87824791e-01 -1.93397726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66587156000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.58, Y:-29.35, Z:-19.34 [[ 9.20603082e-01 3.62659415e-01 1.44803710e-01 1.19580940e+02] [-3.58216251e-01 9.31921722e-01 -5.65952493e-02 -2.93482408e+01] [-1.55470523e-01 2.30718772e-04 9.87840505e-01 -1.93435951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:-29.36, Z:-19.35 [[ 9.21298135e-01 3.60700257e-01 1.45275841e-01 1.19605936e+02] [-3.56205932e-01 9.32681630e-01 -5.67654133e-02 -2.93565698e+01] [-1.55971407e-01 5.49753145e-04 9.87761418e-01 -1.93476264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:-29.37, Z:-19.35 [[ 9.21687820e-01 3.59547018e-01 1.45662293e-01 1.19631898e+02] [-3.55016541e-01 9.33126682e-01 -5.69021216e-02 -2.93657609e+01] [-1.56380360e-01 7.33469108e-04 9.87696636e-01 -1.93520573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:-29.37, Z:-19.36 [[ 9.21874915e-01 3.59052217e-01 1.45698818e-01 1.19657113e+02] [-3.54515241e-01 9.33317125e-01 -5.69042025e-02 -2.93747549e+01] [-1.56414782e-01 8.06105143e-04 9.87691129e-01 -1.93567521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:119.68, Y:-29.38, Z:-19.36 [[ 9.21211975e-01 3.60618492e-01 1.46023287e-01 1.19683257e+02] [-3.56083011e-01 9.32713259e-01 -5.70163568e-02 -2.93839151e+01] [-1.56759009e-01 5.27738970e-04 9.87636742e-01 -1.93608893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:119.71, Y:-29.39, Z:-19.36 [[ 9.20664202e-01 3.62114969e-01 1.45774402e-01 1.19708391e+02] [-3.57615576e-01 9.32133403e-01 -5.69071082e-02 -2.93919501e+01] [-1.56488105e-01 2.61140570e-04 9.87679809e-01 -1.93649212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:-29.40, Z:-19.37 [[ 9.20052646e-01 3.63796175e-01 1.45449206e-01 1.19735374e+02] [-3.59339818e-01 9.31478578e-01 -5.67675353e-02 -2.93995069e+01] [-1.56134632e-01 -3.65702139e-05 9.87735782e-01 -1.93697837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:-29.41, Z:-19.37 [[ 9.19437699e-01 3.65428757e-01 1.45245109e-01 1.19760858e+02] [-3.61010524e-01 9.30839248e-01 -5.66541854e-02 -2.94060728e+01] [-1.55902917e-01 -3.45019217e-04 9.87772323e-01 -1.93743980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:-29.41, Z:-19.38 [[ 9.18250238e-01 3.68385304e-01 1.45288567e-01 1.19787886e+02] [-3.64003114e-01 9.29672808e-01 -5.66586518e-02 -2.94117243e+01] [-1.55943045e-01 -8.58670260e-04 9.87765675e-01 -1.93791785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:-29.42, Z:-19.38 [[ 9.17889626e-01 3.69365223e-01 1.45079174e-01 1.19813459e+02] [-3.65012967e-01 9.29283714e-01 -5.65447861e-02 -2.94200875e+01] [-1.55705391e-01 -1.05390732e-03 9.87802976e-01 -1.93841630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:-29.43, Z:-19.39 [[ 9.17884240e-01 3.69558609e-01 1.44620041e-01 1.19839884e+02] [-3.65238366e-01 9.29206778e-01 -5.63533544e-02 -2.94284302e+01] [-1.55207789e-01 -1.09493152e-03 9.87881239e-01 -1.93895936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:-29.43, Z:-19.39 [[ 9.18130573e-01 3.69116064e-01 1.44185928e-01 1.19865709e+02] [-3.64821792e-01 9.29382715e-01 -5.61500568e-02 -2.94348727e+01] [-1.54729797e-01 -1.04908462e-03 9.87956269e-01 -1.93946745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:119.89, Y:-29.44, Z:-19.40 [[ 9.18533203e-01 3.68292487e-01 1.43726822e-01 1.19891400e+02] [-3.64017536e-01 9.29709524e-01 -5.59592125e-02 -2.94438234e+01] [-1.54233553e-01 -9.18688927e-04 9.88033991e-01 -1.93991903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:-29.45, Z:-19.40 [[ 9.18993416e-01 3.67295294e-01 1.43336203e-01 1.19917032e+02] [-3.63037047e-01 9.30104056e-01 -5.57722838e-02 -2.94519087e+01] [-1.53802482e-01 -7.81990303e-04 9.88101303e-01 -1.94037912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:-29.46, Z:-19.41 [[ 9.19812495e-01 3.65417465e-01 1.42881244e-01 1.19944639e+02] [-3.61165714e-01 9.30843622e-01 -5.55830861e-02 -2.94581071e+01] [-1.53311125e-01 -4.77789317e-04 9.88177854e-01 -1.94083667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.97, Y:-29.47, Z:-19.41 [[ 9.20117782e-01 3.64463953e-01 1.43350252e-01 1.19969984e+02] [-3.60177932e-01 9.31217430e-01 -5.57310945e-02 -2.94665104e+01] [-1.53802229e-01 -3.52426320e-04 9.88101589e-01 -1.94133439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.00, Y:-29.48, Z:-19.42 [[ 9.20394192e-01 3.63566341e-01 1.43854252e-01 1.19995914e+02] [-3.59240983e-01 9.31568285e-01 -5.59146365e-02 -2.94760377e+01] [-1.54338739e-01 -2.14836350e-04 9.88017969e-01 -1.94184299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:-29.49, Z:-19.42 [[ 9.20702004e-01 3.62719944e-01 1.44021047e-01 1.20021345e+02] [-3.58379180e-01 9.31898188e-01 -5.59475797e-02 -2.94856391e+01] [-1.54506255e-01 -1.03095887e-04 9.87991805e-01 -1.94227200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:-29.49, Z:-19.43 [[ 9.20917837e-01 3.62061578e-01 1.44297440e-01 1.20046120e+02] [-3.57701392e-01 9.32154179e-01 -5.60205404e-02 -2.94942215e+01] [-1.54790347e-01 -2.50802075e-05 9.87947341e-01 -1.94270666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-29.50, Z:-19.43 [[ 9.21327438e-01 3.60796602e-01 1.44850144e-01 1.20073016e+02] [-3.56389187e-01 9.32644509e-01 -5.62224720e-02 -2.95020549e+01] [-1.55378568e-01 1.76280858e-04 9.87854984e-01 -1.94311954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:-29.51, Z:-19.44 [[ 9.21559922e-01 3.60190672e-01 1.44879223e-01 1.20099184e+02] [-3.55778992e-01 9.32878673e-01 -5.62022299e-02 -2.95116196e+01] [-1.55398257e-01 2.48738461e-04 9.87851871e-01 -1.94362078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:-29.52, Z:-19.44 [[ 9.21741385e-01 3.59767374e-01 1.44776571e-01 1.20124911e+02] [-3.55361782e-01 9.33041989e-01 -5.61306613e-02 -2.95208692e+01] [-1.55276600e-01 2.89893246e-04 9.87870990e-01 -1.94406955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32587156000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:120.15, Y:-29.53, Z:-19.45 [[ 9.21727111e-01 3.59834446e-01 1.44700743e-01 1.20149998e+02] [-3.55439556e-01 9.33016136e-01 -5.60679194e-02 -2.95285399e+01] [-1.55183297e-01 2.46953583e-04 9.87885663e-01 -1.94450607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:-29.54, Z:-19.45 [[ 9.21589759e-01 3.60139484e-01 1.44816671e-01 1.20175970e+02] [-3.55743152e-01 9.32898450e-01 -5.61007320e-02 -2.95375231e+01] [-1.55303337e-01 1.84321100e-04 9.87866813e-01 -1.94495200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:-29.55, Z:-19.45 [[ 9.21220623e-01 3.61193525e-01 1.44539963e-01 1.20200982e+02] [-3.56832153e-01 9.32490878e-01 -5.59604983e-02 -2.95472024e+01] [-1.54994767e-01 -2.45411417e-05 9.87915291e-01 -1.94543468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:-29.55, Z:-19.46 [[ 9.20368238e-01 3.63939865e-01 1.43073692e-01 1.20227676e+02] [-3.59701771e-01 9.31422317e-01 -5.53814408e-02 -2.95543846e+01] [-1.53417544e-01 -4.92541311e-04 9.88161330e-01 -1.94598359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44587156000001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:120.25, Y:-29.56, Z:-19.46 [[ 9.19892035e-01 3.65312457e-01 1.42637489e-01 1.20253413e+02] [-3.61121555e-01 9.30884659e-01 -5.51812895e-02 -2.95631439e+01] [-1.52937463e-01 -7.48643129e-04 9.88235585e-01 -1.94649234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:120.28, Y:-29.57, Z:-19.47 [[ 9.19391522e-01 3.66571671e-01 1.42633937e-01 1.20279890e+02] [-3.62401156e-01 9.30389290e-01 -5.51468100e-02 -2.95718044e+01] [-1.52920346e-01 -9.89193966e-04 9.88238023e-01 -1.94694989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:-29.58, Z:-19.47 [[ 9.18908690e-01 3.67699378e-01 1.42842522e-01 1.20305285e+02] [-3.63535575e-01 9.29943923e-01 -5.51922645e-02 -2.95799865e+01] [-1.53129697e-01 -1.21168705e-03 9.88205357e-01 -1.94743243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.33, Y:-29.59, Z:-19.48 [[ 9.17922607e-01 3.69714185e-01 1.43977457e-01 1.20331355e+02] [-3.65510470e-01 9.29144200e-01 -5.56161180e-02 -2.95872223e+01] [-1.54337887e-01 -1.57397590e-03 9.88016872e-01 -1.94789979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:-29.60, Z:-19.48 [[ 9.17792980e-01 3.69739504e-01 1.44736813e-01 1.20357852e+02] [-3.65493311e-01 9.29134083e-01 -5.58971875e-02 -2.95954838e+01] [-1.55147305e-01 -1.59829071e-03 9.87890054e-01 -1.94838243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:-29.60, Z:-19.49 [[ 9.17855770e-01 3.69423541e-01 1.45144872e-01 1.20383518e+02] [-3.65154352e-01 9.29259788e-01 -5.60227315e-02 -2.96042505e+01] [-1.55573408e-01 -1.57949423e-03 9.87823071e-01 -1.94885060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.41, Y:-29.61, Z:-19.49 [[ 9.18652101e-01 3.67453496e-01 1.45107702e-01 1.20410127e+02] [-3.63167186e-01 9.30041020e-01 -5.59758434e-02 -2.96126451e+01] [-1.55524635e-01 -1.27602968e-03 9.87831190e-01 -1.94931199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.44, Y:-29.62, Z:-19.50 [[ 9.18718452e-01 3.67283227e-01 1.45118702e-01 1.20436356e+02] [-3.62999313e-01 9.30108272e-01 -5.59473106e-02 -2.96225839e+01] [-1.55524614e-01 -1.27816251e-03 9.87831190e-01 -1.94979658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68587156000001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:120.46, Y:-29.63, Z:-19.50 [[ 9.19158459e-01 3.66047783e-01 1.45453590e-01 1.20462177e+02] [-3.61733378e-01 9.30595406e-01 -5.60459965e-02 -2.96313451e+01] [-1.55873956e-01 -1.10026684e-03 9.87776341e-01 -1.95029391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:-29.64, Z:-19.51 [[ 9.19634783e-01 3.64880234e-01 1.45376341e-01 1.20487503e+02] [-3.60561304e-01 9.31053996e-01 -5.59821648e-02 -2.96402808e+01] [-1.55780009e-01 -9.33937267e-04 9.87791333e-01 -1.95081306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:-29.65, Z:-19.51 [[ 9.20272504e-01 3.63333569e-01 1.45214449e-01 1.20512906e+02] [-3.59007115e-01 9.31658870e-01 -5.59074260e-02 -2.96501193e+01] [-1.55603374e-01 -6.82953361e-04 9.87819378e-01 -1.95136364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77587156000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.54, Y:-29.66, Z:-19.52 [[ 9.21150258e-01 3.61212749e-01 1.44939826e-01 1.20539157e+02] [-3.56881590e-01 9.32483365e-01 -5.57701154e-02 -2.96601891e+01] [-1.55298853e-01 -3.53699223e-04 9.87867471e-01 -1.95175466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80587156000001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.56, Y:-29.67, Z:-19.52 [[ 9.21321261e-01 3.60681383e-01 1.45176009e-01 1.20564770e+02] [-3.56334575e-01 9.32689044e-01 -5.58284642e-02 -2.96693269e+01] [-1.55540361e-01 -2.95280408e-04 9.87829494e-01 -1.95222310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:-29.68, Z:-19.53 [[ 9.21490580e-01 3.60038094e-01 1.45697229e-01 1.20591506e+02] [-3.55656966e-01 9.32937577e-01 -5.59964213e-02 -2.96779516e+01] [-1.56087265e-01 -2.18059767e-04 9.87743245e-01 -1.95270464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:-29.69, Z:-19.53 [[ 9.21819762e-01 3.58906966e-01 1.46403947e-01 1.20617756e+02] [-3.54473969e-01 9.33373337e-01 -5.62353920e-02 -2.96865210e+01] [-1.56832815e-01 -5.74925657e-05 9.87625164e-01 -1.95310029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:-29.70, Z:-19.54 [[ 9.21977278e-01 3.58269721e-01 1.46971787e-01 1.20643595e+02] [-3.53799172e-01 9.33618127e-01 -5.64210889e-02 -2.96962244e+01] [-1.57429492e-01 2.04654884e-05 9.87530230e-01 -1.95359054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.67, Y:-29.71, Z:-19.54 [[ 9.22068132e-01 3.57890863e-01 1.47324438e-01 1.20668796e+02] [-3.53399437e-01 9.33763422e-01 -5.65217686e-02 -2.97060137e+01] [-1.57794796e-01 5.25480662e-05 9.87471923e-01 -1.95406866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:-29.72, Z:-19.55 [[ 9.22234439e-01 3.57378301e-01 1.47527591e-01 1.20694678e+02] [-3.52869982e-01 9.33959707e-01 -5.65865893e-02 -2.97152852e+01] [-1.58007644e-01 1.28043171e-04 9.87437881e-01 -1.95457154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:120.72, Y:-29.72, Z:-19.55 [[ 9.22050107e-01 3.58043038e-01 1.47067274e-01 1.20719640e+02] [-3.53576784e-01 9.33705083e-01 -5.63761903e-02 -2.97245935e+01] [-1.57502563e-01 -1.79013709e-05 9.87518578e-01 -1.95495888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.75, Y:-29.73, Z:-19.55 [[ 9.21955552e-01 3.58226417e-01 1.47213433e-01 1.20745427e+02] [-3.53755581e-01 9.33634741e-01 -5.64194883e-02 -2.97326418e+01] [-1.57654526e-01 -6.13129365e-05 9.87494327e-01 -1.95549411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:-29.74, Z:-19.56 [[ 9.21859577e-01 3.58540463e-01 1.47049841e-01 1.20771904e+02] [-3.54088713e-01 9.33514175e-01 -5.63246680e-02 -2.97414633e+01] [-1.57467784e-01 -1.45254526e-04 9.87524114e-01 -1.95598946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:-29.75, Z:-19.57 [[ 9.21627017e-01 3.59156409e-01 1.47004474e-01 1.20797995e+02] [-3.54720347e-01 9.33277341e-01 -5.62750408e-02 -2.97501910e+01] [-1.57407486e-01 -2.80879914e-04 9.87533698e-01 -1.95654388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:-29.76, Z:-19.57 [[ 9.21668283e-01 3.59095254e-01 1.46895113e-01 1.20823924e+02] [-3.54670167e-01 9.33300867e-01 -5.62011113e-02 -2.97595347e+01] [-1.57278889e-01 -3.00532384e-04 9.87554181e-01 -1.95710674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13587156000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.85, Y:-29.77, Z:-19.58 [[ 9.21825086e-01 3.58913782e-01 1.46353708e-01 1.20848715e+02] [-3.54524651e-01 9.33370669e-01 -5.59594976e-02 -2.97691482e+01] [-1.56686894e-01 -3.01128636e-04 9.87648281e-01 -1.95754877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:-29.78, Z:-19.58 [[ 9.21942854e-01 3.58599086e-01 1.46383297e-01 1.20874204e+02] [-3.54206255e-01 9.33491633e-01 -5.59580294e-02 -2.97784396e+01] [-1.56714081e-01 -2.59774024e-04 9.87643979e-01 -1.95808043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:-29.79, Z:-19.59 [[ 9.22550908e-01 3.56596815e-01 1.47439932e-01 1.20899168e+02] [-3.52119849e-01 9.34258374e-01 -5.63285300e-02 -2.97871206e+01] [-1.57833565e-01 4.94100560e-05 9.87465728e-01 -1.95857416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:-29.80, Z:-19.59 [[ 9.22945225e-01 3.55398300e-01 1.47865341e-01 1.20924670e+02] [-3.50883445e-01 9.34714926e-01 -5.64695957e-02 -2.97969626e+01] [-1.58281139e-01 2.34843641e-04 9.87394058e-01 -1.95904729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:-29.81, Z:-19.59 [[ 9.23344099e-01 3.54244506e-01 1.48143527e-01 1.20949376e+02] [-3.49703206e-01 9.35152752e-01 -5.65420080e-02 -2.98066199e+01] [-1.58566523e-01 4.01462995e-04 9.87348214e-01 -1.95945270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:-29.82, Z:-19.60 [[ 9.23842218e-01 3.52971817e-01 1.48075835e-01 1.20975123e+02] [-3.48420490e-01 9.35633757e-01 -5.65034025e-02 -2.98161805e+01] [-1.58488859e-01 6.07573599e-04 9.87360579e-01 -1.95988628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.00, Y:-29.83, Z:-19.60 [[ 9.24549165e-01 3.51135397e-01 1.48029639e-01 1.21000701e+02] [-3.46568694e-01 9.36324270e-01 -5.64535413e-02 -2.98270046e+01] [-1.58426580e-01 8.91635921e-04 9.87370358e-01 -1.96038188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:-29.84, Z:-19.61 [[ 9.24679456e-01 3.50681188e-01 1.48292305e-01 1.21025382e+02] [-3.46097491e-01 9.36494431e-01 -5.65217470e-02 -2.98375506e+01] [-1.58696032e-01 9.40903461e-04 9.87327040e-01 -1.96089698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37587156000001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:121.05, Y:-29.85, Z:-19.61 [[ 9.24930035e-01 3.49943650e-01 1.48471786e-01 1.21051227e+02] [-3.45341432e-01 9.36770156e-01 -5.65771112e-02 -2.98478431e+01] [-1.58882739e-01 1.05641034e-03 9.87296895e-01 -1.96133081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:-29.86, Z:-19.62 [[ 9.25029593e-01 3.49732430e-01 1.48349183e-01 1.21076489e+02] [-3.45140665e-01 9.36849030e-01 -5.64961600e-02 -2.98570157e+01] [-1.58739328e-01 1.05928411e-03 9.87319960e-01 -1.96185736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:-29.87, Z:-19.62 [[ 9.25033806e-01 3.49823213e-01 1.48108667e-01 1.21102587e+02] [-3.45249656e-01 9.36815168e-01 -5.63916318e-02 -2.98667945e+01] [-1.58477548e-01 1.02969951e-03 9.87362044e-01 -1.96236267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:-29.88, Z:-19.63 [[ 9.25013813e-01 3.49953288e-01 1.47926136e-01 1.21127244e+02] [-3.45398049e-01 9.36766645e-01 -5.62889111e-02 -2.98767491e+01] [-1.58270759e-01 9.74621703e-04 9.87395269e-01 -1.96285355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49587156000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:121.15, Y:-29.89, Z:-19.63 [[ 9.25042193e-01 3.49893010e-01 1.47891252e-01 1.21152538e+02] [-3.45342570e-01 9.36789171e-01 -5.62544066e-02 -2.98866698e+01] [-1.58225947e-01 9.64554717e-04 9.87402461e-01 -1.96330428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:-29.90, Z:-19.64 [[ 9.24826740e-01 3.50327079e-01 1.48210793e-01 1.21177338e+02] [-3.45767788e-01 9.36627033e-01 -5.63421577e-02 -2.98953005e+01] [-1.58556419e-01 8.60215967e-04 9.87349544e-01 -1.96386482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:-29.90, Z:-19.64 [[ 9.24711111e-01 3.50374830e-01 1.48818146e-01 1.21203386e+02] [-3.45780564e-01 9.36609186e-01 -5.65600009e-02 -2.99047933e+01] [-1.59201644e-01 8.43238639e-04 9.87245727e-01 -1.96433189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:-29.91, Z:-19.65 [[ 9.24580069e-01 3.50605611e-01 1.49088572e-01 1.21228813e+02] [-3.46002508e-01 9.36522880e-01 -5.66317949e-02 -2.99142920e+01] [-1.59480284e-01 7.75608877e-04 9.87200809e-01 -1.96479634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.25, Y:-29.92, Z:-19.65 [[ 9.24267870e-01 3.51630363e-01 1.48610205e-01 1.21253939e+02] [-3.47075406e-01 9.36138755e-01 -5.64171480e-02 -2.99231933e+01] [-1.58957754e-01 5.65609979e-04 9.87285223e-01 -1.96529183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.28, Y:-29.93, Z:-19.66 [[ 9.24135407e-01 3.52060186e-01 1.48416224e-01 1.21280352e+02] [-3.47524706e-01 9.35977241e-01 -5.63310095e-02 -2.99322128e+01] [-1.58746114e-01 4.79175610e-04 9.87319321e-01 -1.96582368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:-29.94, Z:-19.66 [[ 9.24023841e-01 3.52421867e-01 1.48252383e-01 1.21305743e+02] [-3.47906429e-01 9.35841161e-01 -5.62355528e-02 -2.99406100e+01] [-1.58559321e-01 3.85034399e-04 9.87349378e-01 -1.96628106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:-29.95, Z:-19.67 [[ 9.24183765e-01 3.51800843e-01 1.48729740e-01 1.21331532e+02] [-3.47250144e-01 9.36074749e-01 -5.64039226e-02 -2.99499142e+01] [-1.59065101e-01 4.81166125e-04 9.87267979e-01 -1.96681698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.36, Y:-29.96, Z:-19.67 [[ 9.24486158e-01 3.50957077e-01 1.48843792e-01 1.21356383e+02] [-3.46393920e-01 9.36391359e-01 -5.64134372e-02 -2.99598020e+01] [-1.59174736e-01 5.94857174e-04 9.87250247e-01 -1.96725711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.38, Y:-29.97, Z:-19.68 [[ 9.24846564e-01 3.49872363e-01 1.49158181e-01 1.21382407e+02] [-3.45279315e-01 9.36797069e-01 -5.65105847e-02 -2.99696092e+01] [-1.59502439e-01 7.62385363e-04 9.87197240e-01 -1.96773549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79587156000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.41, Y:-29.98, Z:-19.68 [[ 9.25752050e-01 3.47411865e-01 1.49292124e-01 1.21408029e+02] [-3.42783849e-01 9.37711926e-01 -5.65294276e-02 -2.99785782e+01] [-1.59631999e-01 1.15730456e-03 9.87175914e-01 -1.96820124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82587156000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.43, Y:-29.99, Z:-19.69 [[ 9.26268476e-01 3.46067704e-01 1.49210775e-01 1.21434068e+02] [-3.41432911e-01 9.38208562e-01 -5.64646931e-02 -2.99889769e+01] [-1.59531434e-01 1.35599579e-03 9.87191918e-01 -1.96866850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.46, Y:-30.00, Z:-19.69 [[ 9.27297972e-01 3.43465750e-01 1.48827921e-01 1.21457544e+02] [-3.38823439e-01 9.39163501e-01 -5.63080372e-02 -3.00000238e+01] [-1.59113634e-01 1.78794057e-03 9.87258656e-01 -1.96925391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:-30.01, Z:-19.70 [[ 9.27673718e-01 3.42373884e-01 1.49002002e-01 1.21482856e+02] [-3.37710426e-01 9.39561760e-01 -5.63504002e-02 -3.00100454e+01] [-1.59289489e-01 1.95525566e-03 9.87229981e-01 -1.96973064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:-30.02, Z:-19.70 [[ 9.27962707e-01 3.41506739e-01 1.49192363e-01 1.21507007e+02] [-3.36822130e-01 9.39876991e-01 -5.64100606e-02 -3.00200572e+01] [-1.59486885e-01 2.09514312e-03 9.87197824e-01 -1.97017687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94587156000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:-30.03, Z:-19.71 [[ 9.28365674e-01 3.40397369e-01 1.49220665e-01 1.21531900e+02] [-3.35698970e-01 9.40278929e-01 -5.64068872e-02 -3.00300866e+01] [-1.59509803e-01 2.27299457e-03 9.87193728e-01 -1.97064487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:-30.04, Z:-19.71 [[ 9.28857175e-01 3.38534138e-01 1.50396094e-01 1.21557405e+02] [-3.33740405e-01 9.40950541e-01 -5.68280066e-02 -3.00420923e+01] [-1.60753506e-01 2.59184827e-03 9.86991182e-01 -1.97109525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:-30.05, Z:-19.72 [[ 9.29098874e-01 3.37784845e-01 1.50587787e-01 1.21581649e+02] [-3.32971031e-01 9.41219441e-01 -5.68880989e-02 -3.00524403e+01] [-1.60952090e-01 2.71329792e-03 9.86958491e-01 -1.97154064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.61, Y:-30.06, Z:-19.72 [[ 9.29402464e-01 3.37076909e-01 1.50300423e-01 1.21606968e+02] [-3.32274736e-01 9.41472902e-01 -5.67650862e-02 -3.00633014e+01] [-1.60637975e-01 2.81657768e-03 9.87009376e-01 -1.97201199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:-30.07, Z:-19.73 [[ 9.29618280e-01 3.36721248e-01 1.49761993e-01 1.21631756e+02] [-3.31950996e-01 9.41600044e-01 -5.65499148e-02 -3.00746686e+01] [-1.60057457e-01 2.85619193e-03 9.87103567e-01 -1.97253547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.65, Y:-30.09, Z:-19.73 [[ 9.29594938e-01 3.36768609e-01 1.49800385e-01 1.21654687e+02] [-3.31998526e-01 9.41583165e-01 -5.65519481e-02 -3.00878314e+01] [-1.60094441e-01 2.83689767e-03 9.87097625e-01 -1.97304659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:-30.10, Z:-19.74 [[ 9.29326209e-01 3.37438300e-01 1.49960633e-01 1.21679818e+02] [-3.32668980e-01 9.41343745e-01 -5.65977281e-02 -3.00986587e+01] [-1.60262745e-01 2.71050141e-03 9.87070669e-01 -1.97352597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:-30.11, Z:-19.74 [[ 9.28998352e-01 3.38368225e-01 1.49896649e-01 1.21704149e+02] [-3.33616914e-01 9.41010363e-01 -5.65619252e-02 -3.01088970e+01] [-1.60193059e-01 2.53787781e-03 9.87082440e-01 -1.97395899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:-30.12, Z:-19.74 [[ 9.27908328e-01 3.40902016e-01 1.50903777e-01 1.21729199e+02] [-3.36123148e-01 9.40096502e-01 -5.69192181e-02 -3.01216405e+01] [-1.61267989e-01 2.09356391e-03 9.86908432e-01 -1.97448302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:-30.13, Z:-19.75 [[ 9.27260110e-01 3.42518261e-01 1.51228070e-01 1.21753073e+02] [-3.37743306e-01 9.39509452e-01 -5.70214820e-02 -3.01328081e+01] [-1.61611100e-01 1.79747723e-03 9.86852887e-01 -1.97495843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:121.78, Y:-30.14, Z:-19.75 [[ 9.26816935e-01 3.43928973e-01 1.50742263e-01 1.21778118e+02] [-3.39207056e-01 9.38994428e-01 -5.68158188e-02 -3.01443984e+01] [-1.61086751e-01 1.52502391e-03 9.86939073e-01 -1.97538935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:-30.16, Z:-19.76 [[ 9.25937785e-01 3.46350914e-01 1.50599678e-01 1.21802461e+02] [-3.41671754e-01 9.38104394e-01 -5.67499723e-02 -3.01570677e+01] [-1.60933625e-01 1.09128730e-03 9.86964628e-01 -1.97593745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:-30.17, Z:-19.76 [[ 9.25453306e-01 3.47484553e-01 1.50965770e-01 1.21827381e+02] [-3.42799502e-01 9.37685290e-01 -5.68752863e-02 -3.01684421e+01] [-1.61321665e-01 8.84430953e-04 9.86901484e-01 -1.97644767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.85, Y:-30.18, Z:-19.77 [[ 9.25300402e-01 3.47953999e-01 1.50821685e-01 1.21852007e+02] [-3.43285822e-01 9.37511273e-01 -5.68107170e-02 -3.01795937e+01] [-1.61164546e-01 7.92033295e-04 9.86927232e-01 -1.97693183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.88, Y:-30.19, Z:-19.77 [[ 9.25153018e-01 3.48527754e-01 1.50400456e-01 1.21876695e+02] [-3.43895711e-01 9.37298217e-01 -5.66373807e-02 -3.01908751e+01] [-1.60709779e-01 6.76171987e-04 9.87001474e-01 -1.97738177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:-30.20, Z:-19.78 [[ 9.24733873e-01 3.49672163e-01 1.50321797e-01 1.21900911e+02] [-3.45062403e-01 9.36872010e-01 -5.65930537e-02 -3.02032585e+01] [-1.60621299e-01 4.63113257e-04 9.87016000e-01 -1.97794056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:-30.21, Z:-19.78 [[ 9.24505369e-01 3.50360546e-01 1.50124317e-01 1.21926507e+02] [-3.45774014e-01 9.36614850e-01 -5.65062236e-02 -3.02148430e+01] [-1.60406216e-01 3.31219592e-04 9.87051030e-01 -1.97842038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:-30.23, Z:-19.79 [[ 9.24290353e-01 3.51030859e-01 1.49882222e-01 1.21951117e+02] [-3.46469966e-01 9.36363869e-01 -5.64027252e-02 -3.02265029e+01] [-1.60143394e-01 2.02806559e-04 9.87093740e-01 -1.97891571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:-30.24, Z:-19.79 [[ 9.23991172e-01 3.51847489e-01 1.49812076e-01 1.21975251e+02] [-3.47303529e-01 9.36057339e-01 -5.63641425e-02 -3.02378185e+01] [-1.60064275e-01 4.97073174e-05 9.87106593e-01 -1.97935698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:-30.25, Z:-19.80 [[ 9.22981745e-01 3.54213682e-01 1.50457190e-01 1.22000287e+02] [-3.49665188e-01 9.35164435e-01 -5.65838803e-02 -3.02506305e+01] [-1.60744997e-01 -3.83753039e-04 9.86995896e-01 -1.97987497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:-30.26, Z:-19.80 [[ 9.22623730e-01 3.55159820e-01 1.50422590e-01 1.22024888e+02] [-3.50627881e-01 9.34805428e-01 -5.65588219e-02 -3.02608862e+01] [-1.60703275e-01 -5.59842900e-04 9.87002606e-01 -1.98033477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:-30.27, Z:-19.81 [[ 9.22685894e-01 3.54995136e-01 1.50430031e-01 1.22051213e+02] [-3.50464250e-01 9.34867984e-01 -5.65390245e-02 -3.02705920e+01] [-1.60703298e-01 -5.52587567e-04 9.87002606e-01 -1.98081929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:-30.28, Z:-19.81 [[ 9.22474725e-01 3.55663994e-01 1.50144949e-01 1.22076609e+02] [-3.51164284e-01 9.34613630e-01 -5.64004303e-02 -3.02807863e+01] [-1.60387118e-01 -6.97572054e-04 9.87053943e-01 -1.98133653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:-30.29, Z:-19.82 [[ 9.22385894e-01 3.55853350e-01 1.50241993e-01 1.22101936e+02] [-3.51352060e-01 9.34541515e-01 -5.64259360e-02 -3.02917935e+01] [-1.60486738e-01 -7.41346499e-04 9.87037718e-01 -1.98184421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:-30.30, Z:-19.82 [[ 9.22610655e-01 3.55210927e-01 1.50382100e-01 1.22126823e+02] [-3.50697981e-01 9.34785944e-01 -5.64461260e-02 -3.03027444e+01] [-1.60625354e-01 -6.60901554e-04 9.87015227e-01 -1.98231697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:-30.31, Z:-19.83 [[ 9.22957756e-01 3.54268378e-01 1.50475568e-01 1.22151064e+02] [-3.49739300e-01 9.35143656e-01 -5.64691458e-02 -3.03143152e+01] [-1.60721505e-01 -5.08583674e-04 9.86999665e-01 -1.98279497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:-30.33, Z:-19.83 [[ 9.23859595e-01 3.51826696e-01 1.50669917e-01 1.22175150e+02] [-3.47257173e-01 9.36065150e-01 -5.65198258e-02 -3.03284888e+01] [-1.60922042e-01 -1.04826234e-04 9.86967115e-01 -1.98327030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:122.20, Y:-30.34, Z:-19.84 [[ 9.24413104e-01 3.50411316e-01 1.50573313e-01 1.22199301e+02] [-3.45831029e-01 9.36595907e-01 -5.64712931e-02 -3.03393705e+01] [-1.60814528e-01 1.29879693e-04 9.86984635e-01 -1.98368143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:-30.35, Z:-19.84 [[ 9.25085227e-01 3.48584764e-01 1.50685055e-01 1.22224193e+02] [-3.43975905e-01 9.37277159e-01 -5.64986996e-02 -3.03499247e+01] [-1.60928246e-01 4.34084347e-04 9.86966013e-01 -1.98417360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.25, Y:-30.36, Z:-19.85 [[ 9.25653224e-01 3.46951273e-01 1.50966626e-01 1.22249521e+02] [-3.42305823e-01 9.37882890e-01 -5.65898167e-02 -3.03612233e+01] [-1.61222925e-01 7.05790936e-04 9.86917763e-01 -1.98464397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:-30.38, Z:-19.85 [[ 9.26179442e-01 3.44699134e-01 1.52886066e-01 1.22273256e+02] [-3.40332447e-01 9.38712232e-01 -5.47098724e-02 -3.03766834e+01] [-1.62374466e-01 -1.36092982e-03 9.86728271e-01 -1.98523923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:-30.39, Z:-19.86 [[ 9.26654438e-01 3.44680078e-01 1.50023983e-01 1.22299038e+02] [-3.39675183e-01 9.38714195e-01 -5.86210727e-02 -3.03858634e+01] [-1.61035158e-01 3.36205335e-03 9.86942944e-01 -1.98564990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:122.32, Y:-30.40, Z:-19.86 [[ 9.26849761e-01 3.43920541e-01 1.50559562e-01 1.22324355e+02] [-3.39266001e-01 9.38997991e-01 -5.64034915e-02 -3.03997021e+01] [-1.60773445e-01 1.19782221e-03 9.86990610e-01 -1.98617750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:-30.41, Z:-19.87 [[ 9.27071575e-01 3.43065038e-01 1.51144551e-01 1.22349354e+02] [-3.38364051e-01 9.39310691e-01 -5.66144378e-02 -3.04145470e+01] [-1.61394127e-01 1.34375351e-03 9.86889117e-01 -1.98666945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:-30.43, Z:-19.87 [[ 9.27129176e-01 3.42936181e-01 1.51083642e-01 1.22373684e+02] [-3.38238667e-01 9.39357723e-01 -5.65833205e-02 -3.04265669e+01] [-1.61326054e-01 1.35771780e-03 9.86900229e-01 -1.98712682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:-30.44, Z:-19.88 [[ 9.27178055e-01 3.42790797e-01 1.51113612e-01 1.22398272e+02] [-3.38091210e-01 9.39410764e-01 -5.65840081e-02 -3.04384906e+01] [-1.61354231e-01 1.37326658e-03 9.86895600e-01 -1.98755672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:-30.45, Z:-19.88 [[ 9.27233048e-01 3.42556920e-01 1.51306417e-01 1.22424416e+02] [-3.37843848e-01 9.39496024e-01 -5.66458696e-02 -3.04506205e+01] [-1.61556211e-01 1.40598029e-03 9.86862510e-01 -1.98800149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:-30.47, Z:-19.89 [[ 9.27164903e-01 3.42693949e-01 1.51413669e-01 1.22451192e+02] [-3.37977417e-01 9.39446096e-01 -5.66771388e-02 -3.04669160e+01] [-1.61667893e-01 1.37465312e-03 9.86844265e-01 -1.98861438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:-30.48, Z:-19.89 [[ 9.26913232e-01 3.43422425e-01 1.51303992e-01 1.22479478e+02] [-3.38721925e-01 9.39180215e-01 -5.66390355e-02 -3.04812013e+01] [-1.61552831e-01 1.24949181e-03 9.86863274e-01 -1.98912174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.51, Y:-30.49, Z:-19.90 [[ 9.26462823e-01 3.44441165e-01 1.51746237e-01 1.22506937e+02] [-3.39721357e-01 9.38807255e-01 -5.68360545e-02 -3.04943521e+01] [-1.62037145e-01 1.10505395e-03 9.86784040e-01 -1.98962408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:-30.51, Z:-19.90 [[ 9.25647272e-01 3.46818706e-01 1.51307348e-01 1.22532170e+02] [-3.42155983e-01 9.37931926e-01 -5.66831960e-02 -3.05094215e+01] [-1.61574785e-01 6.97931420e-04 9.86860224e-01 -1.99005753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.56, Y:-30.52, Z:-19.91 [[ 9.25137364e-01 3.48322303e-01 1.50971625e-01 1.22557410e+02] [-3.43701597e-01 9.37374734e-01 -5.65492759e-02 -3.05219590e+01] [-1.61214361e-01 4.26659396e-04 9.86919322e-01 -1.99057983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.58, Y:-30.53, Z:-19.91 [[ 9.24542050e-01 3.49970518e-01 1.50806611e-01 1.22582102e+02] [-3.45383060e-01 9.36760705e-01 -5.64794026e-02 -3.05342541e+01] [-1.61035833e-01 1.31533866e-04 9.86948551e-01 -1.99107375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:-30.55, Z:-19.92 [[ 9.23330442e-01 3.53114758e-01 1.50900175e-01 1.22607469e+02] [-3.48564919e-01 9.35579920e-01 -5.65040812e-02 -3.05470433e+01] [-1.61131598e-01 -4.26569002e-04 9.86932838e-01 -1.99154547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:122.63, Y:-30.56, Z:-19.92 [[ 9.22713967e-01 3.54670612e-01 1.51022156e-01 1.22633061e+02] [-3.50135359e-01 9.34991047e-01 -5.65417749e-02 -3.05582448e+01] [-1.61258070e-01 -7.06311341e-04 9.86912020e-01 -1.99207103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:-30.57, Z:-19.93 [[ 9.21584117e-01 3.57593162e-01 1.51029290e-01 1.22657352e+02] [-3.53097712e-01 9.33876667e-01 -5.65365017e-02 -3.05722571e+01] [-1.61259796e-01 -1.22495473e-03 9.86911231e-01 -1.99254096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:-30.58, Z:-19.93 [[ 9.21092800e-01 3.58826803e-01 1.51100561e-01 1.22682022e+02] [-3.54345274e-01 9.33403031e-01 -5.65527029e-02 -3.05842991e+01] [-1.61330347e-01 -1.45148212e-03 9.86899393e-01 -1.99300154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:-30.60, Z:-19.93 [[ 9.20759861e-01 3.59831326e-01 1.50740493e-01 1.22707100e+02] [-3.55386238e-01 9.33015944e-01 -5.64080755e-02 -3.05955912e+01] [-1.60940676e-01 -1.63280491e-03 9.86962731e-01 -1.99349476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:-30.61, Z:-19.94 [[ 9.20429203e-01 3.60868177e-01 1.50280544e-01 1.22733075e+02] [-3.56465982e-01 9.32615059e-01 -5.62241537e-02 -3.06060800e+01] [-1.60443406e-01 -1.81954868e-03 9.87043364e-01 -1.99399417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:-30.62, Z:-19.94 [[ 9.19683877e-01 3.62816503e-01 1.50152429e-01 1.22757173e+02] [-3.58449529e-01 9.31858081e-01 -5.61645118e-02 -3.06168744e+01] [-1.60298166e-01 -2.16847155e-03 9.87066257e-01 -1.99443769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:-30.63, Z:-19.95 [[ 9.19352624e-01 3.63674278e-01 1.50105872e-01 1.22782830e+02] [-3.59323663e-01 9.31523262e-01 -5.61330295e-02 -3.06285673e+01] [-1.60241251e-01 -2.33054384e-03 9.87075129e-01 -1.99500151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:-30.64, Z:-19.95 [[ 9.19267479e-01 3.64019869e-01 1.49789310e-01 1.22808214e+02] [-3.59693557e-01 9.31388108e-01 -5.60065839e-02 -3.06394368e+01] [-1.59899491e-01 -2.39321864e-03 9.87130399e-01 -1.99544242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:-30.65, Z:-19.96 [[ 9.18952210e-01 3.64650101e-01 1.50190346e-01 1.22833248e+02] [-3.60310472e-01 9.31141212e-01 -5.61462998e-02 -3.06502291e+01] [-1.60322175e-01 -2.51938819e-03 9.87061524e-01 -1.99593369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:-30.66, Z:-19.96 [[ 9.18576546e-01 3.65144566e-01 1.51283094e-01 1.22858783e+02] [-3.60749522e-01 9.30947100e-01 -5.65444853e-02 -3.06622397e+01] [-1.61483469e-01 -2.63486594e-03 9.86871900e-01 -1.99637383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:-30.67, Z:-19.97 [[ 9.18449924e-01 3.65427595e-01 1.51368455e-01 1.22884652e+02] [-3.61032707e-01 9.30835869e-01 -5.65682654e-02 -3.06732402e+01] [-1.61570792e-01 -2.69384396e-03 9.86857448e-01 -1.99680616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.91, Y:-30.68, Z:-19.97 [[ 9.18221702e-01 3.65958362e-01 1.51470732e-01 1.22910768e+02] [-3.61566005e-01 9.30627022e-01 -5.65983112e-02 -3.06830990e+01] [-1.61675382e-01 -2.79687000e-03 9.86840032e-01 -1.99730384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:-30.69, Z:-19.98 [[ 9.18073066e-01 3.66269724e-01 1.51619043e-01 1.22937156e+02] [-3.61874268e-01 9.30504324e-01 -5.66455443e-02 -3.06929314e+01] [-1.61829723e-01 -2.86228155e-03 9.86814546e-01 -1.99784278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:-30.70, Z:-19.98 [[ 9.17896062e-01 3.66633808e-01 1.51810637e-01 1.22963312e+02] [-3.62233477e-01 9.30360693e-01 -5.67088116e-02 -3.07031832e+01] [-1.62030017e-01 -2.93810016e-03 9.86781456e-01 -1.99835158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:-30.71, Z:-19.99 [[ 9.17279877e-01 3.67941516e-01 1.52370172e-01 1.22989038e+02] [-3.63527749e-01 9.29843467e-01 -5.69095989e-02 -3.07135591e+01] [-1.62619813e-01 -3.18875582e-03 9.86683652e-01 -1.99877002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:-30.72, Z:-19.99 [[ 9.17004690e-01 3.68668848e-01 1.52268446e-01 1.23015792e+02] [-3.64272671e-01 9.29554852e-01 -5.68612167e-02 -3.07224858e+01] [-1.62504832e-01 -3.32523119e-03 9.86702145e-01 -1.99925806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:-30.73, Z:-20.00 [[ 9.16714929e-01 3.69433242e-01 1.52160501e-01 1.23042308e+02] [-3.65055103e-01 9.29250810e-01 -5.68128815e-02 -3.07307706e+01] [-1.62383836e-01 -3.46575074e-03 9.86721581e-01 -1.99976080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:123.07, Y:-30.74, Z:-20.00 [[ 9.16225767e-01 3.70695540e-01 1.52036709e-01 1.23069064e+02] [-3.66343678e-01 9.28747085e-01 -5.67552729e-02 -3.07401892e+01] [-1.62242577e-01 -3.69704361e-03 9.86743978e-01 -2.00026771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:-30.75, Z:-20.01 [[ 9.16046868e-01 3.71056711e-01 1.52233547e-01 1.23094329e+02] [-3.66699722e-01 9.28602541e-01 -5.68210667e-02 -3.07483834e+01] [-1.62448297e-01 -3.77323925e-03 9.86709843e-01 -2.00068885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:-30.76, Z:-20.01 [[ 9.15843816e-01 3.71858947e-01 1.51495970e-01 1.23121014e+02] [-3.67332207e-01 9.28285555e-01 -5.79049011e-02 -3.07558936e+01] [-1.62163976e-01 -2.61750332e-03 9.86760353e-01 -2.00116584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:-30.76, Z:-20.02 [[ 9.15831071e-01 3.71373860e-01 1.52757670e-01 1.23148550e+02] [-3.67254164e-01 9.28468035e-01 -5.54210028e-02 -3.07643517e+01] [-1.62412525e-01 -5.34461406e-03 9.86708471e-01 -2.00171169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:-30.77, Z:-20.02 [[ 9.15760159e-01 3.70809555e-01 1.54543217e-01 1.23172876e+02] [-3.66901681e-01 9.28681756e-01 -5.41604308e-02 -3.07736576e+01] [-1.63604671e-01 -7.10420131e-03 9.86500401e-01 -2.00220386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:-30.78, Z:-20.03 [[ 9.16196321e-01 3.70985172e-01 1.51506776e-01 1.23200666e+02] [-3.66185962e-01 9.28638276e-01 -5.94877637e-02 -3.07782438e+01] [-1.62764070e-01 -9.77184382e-04 9.86664534e-01 -2.00258638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:-30.79, Z:-20.03 [[ 9.16481536e-01 3.69880384e-01 1.52479819e-01 1.23227193e+02] [-3.65446180e-01 9.29073512e-01 -5.71970174e-02 -3.07865176e+01] [-1.62821016e-01 -3.30315731e-03 9.86650093e-01 -2.00307571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:-30.79, Z:-20.04 [[ 9.17282709e-01 3.68124711e-01 1.51909939e-01 1.23255757e+02] [-3.63764326e-01 9.29770390e-01 -5.65909623e-02 -3.07922117e+01] [-1.62073895e-01 -3.34950549e-03 9.86772939e-01 -2.00362534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:-30.80, Z:-20.04 [[ 9.17791775e-01 3.66969518e-01 1.51629916e-01 1.23282089e+02] [-3.62610966e-01 9.30227643e-01 -5.64784837e-02 -3.08004518e+01] [-1.61776222e-01 -3.14718274e-03 9.86822451e-01 -2.00414198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:-30.81, Z:-20.05 [[ 9.18144494e-01 3.66071422e-01 1.51665427e-01 1.23308718e+02] [-3.61700338e-01 9.30581924e-01 -5.64813926e-02 -3.08084506e+01] [-1.61813328e-01 -2.99935642e-03 9.86816827e-01 -2.00459384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:-30.82, Z:-20.05 [[ 9.18471896e-01 3.65292543e-01 1.51560990e-01 1.23336338e+02] [-3.60918677e-01 9.30888351e-01 -5.64321467e-02 -3.08156209e+01] [-1.61700602e-01 -2.86985098e-03 9.86835690e-01 -2.00507293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.36, Y:-30.82, Z:-20.06 [[ 9.19062950e-01 3.63867929e-01 1.51404835e-01 1.23363983e+02] [-3.59485300e-01 9.31446855e-01 -5.63655575e-02 -3.08204940e+01] [-1.61535176e-01 -2.62431694e-03 9.86863466e-01 -2.00559883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.39, Y:-30.83, Z:-20.06 [[ 9.19240229e-01 3.63340195e-01 1.51595857e-01 1.23391536e+02] [-3.58941079e-01 9.31653061e-01 -5.64258498e-02 -3.08286272e+01] [-1.61736523e-01 -2.54506922e-03 9.86830695e-01 -2.00607513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.42, Y:-30.84, Z:-20.07 [[ 9.19473200e-01 3.62672937e-01 1.51780685e-01 1.23419190e+02] [-3.58255393e-01 9.31913297e-01 -5.64861068e-02 -3.08360137e+01] [-1.61932421e-01 -2.43878764e-03 9.86798836e-01 -2.00662679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.45, Y:-30.84, Z:-20.07 [[ 9.20094230e-01 3.61227549e-01 1.51463744e-01 1.23447686e+02] [-3.56810482e-01 9.32475132e-01 -5.63596317e-02 -3.08410401e+01] [-1.61594827e-01 -2.18767978e-03 9.86854764e-01 -2.00708651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:-30.85, Z:-20.08 [[ 9.20439494e-01 3.60166196e-01 1.51892888e-01 1.23474919e+02] [-3.55710954e-01 9.32885979e-01 -5.65107703e-02 -3.08489778e+01] [-1.62052014e-01 -2.01521918e-03 9.86780160e-01 -2.00765078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:-30.86, Z:-20.08 [[ 9.20894555e-01 3.58936767e-01 1.52044783e-01 1.23500859e+02] [-3.54457291e-01 9.33360127e-01 -5.65588443e-02 -3.08572019e+01] [-1.62213587e-01 -1.80865031e-03 9.86754012e-01 -2.00812045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:-30.86, Z:-20.09 [[ 9.21721700e-01 3.56815912e-01 1.52024708e-01 1.23526719e+02] [-3.52310800e-01 9.34173600e-01 -5.65401203e-02 -3.08635730e+01] [-1.62191883e-01 -1.44569068e-03 9.86758179e-01 -2.00861270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:-30.87, Z:-20.09 [[ 9.22039492e-01 3.56107211e-01 1.51759118e-01 1.23552949e+02] [-3.51610813e-01 9.34444155e-01 -5.64265703e-02 -3.08715641e+01] [-1.61904329e-01 -1.33262070e-03 9.86805560e-01 -2.00909823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:-30.88, Z:-20.10 [[ 9.22285594e-01 3.55680452e-01 1.51263673e-01 1.23579833e+02] [-3.51209849e-01 9.34606770e-01 -5.62301211e-02 -3.08796445e+01] [-1.61372007e-01 -1.26506102e-03 9.86892839e-01 -2.00957006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:-30.89, Z:-20.10 [[ 9.22253700e-01 3.55937614e-01 1.50852666e-01 1.23607792e+02] [-3.51496876e-01 9.34508789e-01 -5.60648645e-02 -3.08851389e+01] [-1.60928736e-01 -1.31821194e-03 9.86965148e-01 -2.01011493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.63, Y:-30.89, Z:-20.11 [[ 9.22016434e-01 3.56598400e-01 1.50742419e-01 1.23634512e+02] [-3.52174312e-01 9.34256660e-01 -5.60156015e-02 -3.08921636e+01] [-1.60807183e-01 -1.44030253e-03 9.86984790e-01 -2.01052053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:123.66, Y:-30.90, Z:-20.11 [[ 9.21815854e-01 3.57165663e-01 1.50626094e-01 1.23661341e+02] [-3.52758075e-01 9.34039767e-01 -5.59594070e-02 -3.08992408e+01] [-1.60677541e-01 -1.55030250e-03 9.87005737e-01 -2.01100737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:123.69, Y:-30.91, Z:-20.11 [[ 9.21837378e-01 3.57108640e-01 1.50629573e-01 1.23687704e+02] [-3.52701825e-01 9.34061569e-01 -5.59500428e-02 -3.09089026e+01] [-1.60677539e-01 -1.55048445e-03 9.87005737e-01 -2.01149201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:-30.91, Z:-20.12 [[ 9.21528845e-01 3.57891477e-01 1.50659477e-01 1.23714910e+02] [-3.53494972e-01 9.33761646e-01 -5.59508189e-02 -3.09140556e+01] [-1.60704362e-01 -1.69707391e-03 9.87001129e-01 -2.01208190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:-30.92, Z:-20.13 [[ 9.21576193e-01 3.57897065e-01 1.50356281e-01 1.23740639e+02] [-3.53520458e-01 9.33759487e-01 -5.58256779e-02 -3.09217133e+01] [-1.60376451e-01 -1.70640577e-03 9.87054447e-01 -2.01256697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:123.77, Y:-30.93, Z:-20.13 [[ 9.21700581e-01 3.57759894e-01 1.49919636e-01 1.23766472e+02] [-3.53409426e-01 9.33812078e-01 -5.56487235e-02 -3.09302727e+01] [-1.59905648e-01 -1.69155188e-03 9.87130854e-01 -2.01300240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:-30.94, Z:-20.14 [[ 9.22350982e-01 3.56349796e-01 1.49276552e-01 1.23792558e+02] [-3.52020299e-01 9.34351495e-01 -5.53984940e-02 -3.09354109e+01] [-1.59218011e-01 -1.45152106e-03 9.87242381e-01 -2.01356556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:-30.94, Z:-20.14 [[ 9.22474163e-01 3.55940572e-01 1.49491567e-01 1.23819581e+02] [-3.51596902e-01 9.34507537e-01 -5.54552303e-02 -3.09426468e+01] [-1.59439763e-01 -1.40475474e-03 9.87206660e-01 -2.01400008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:-30.95, Z:-20.14 [[ 9.22572218e-01 3.55502235e-01 1.49928861e-01 1.23845576e+02] [-3.51129167e-01 9.34674464e-01 -5.56053494e-02 -3.09500773e+01] [-1.59902504e-01 -1.34444568e-03 9.87131897e-01 -2.01448046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:-30.96, Z:-20.15 [[ 9.22689327e-01 3.55012739e-01 1.50367424e-01 1.23871912e+02] [-3.50609763e-01 9.34860591e-01 -5.57536497e-02 -3.09582776e+01] [-1.60365834e-01 -1.27698924e-03 9.87056821e-01 -2.01491466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:123.90, Y:-30.97, Z:-20.15 [[ 9.22783322e-01 3.54383512e-01 1.51272164e-01 1.23898644e+02] [-3.49920669e-01 9.35099417e-01 -5.60767932e-02 -3.09665955e+01] [-1.61327204e-01 -1.18652745e-03 9.86900261e-01 -2.01539802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.92, Y:-30.98, Z:-20.16 [[ 9.22916096e-01 3.54109898e-01 1.51102815e-01 1.23924714e+02] [-3.49655449e-01 9.35203112e-01 -5.60018439e-02 -3.09752971e+01] [-1.61142630e-01 -1.14891945e-03 9.86930460e-01 -2.01588695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:-30.98, Z:-20.16 [[ 9.22941042e-01 3.54037273e-01 1.51120620e-01 1.23951135e+02] [-3.49582805e-01 9.35230609e-01 -5.59961680e-02 -3.09841437e+01] [-1.61157360e-01 -1.14800865e-03 9.86928056e-01 -2.01646062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:-30.99, Z:-20.17 [[ 9.22755221e-01 3.54456488e-01 1.51272603e-01 1.23977330e+02] [-3.50000686e-01 9.35071694e-01 -5.60396867e-02 -3.09905116e+01] [-1.61314360e-01 -1.23460124e-03 9.86902302e-01 -2.01686926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:-31.00, Z:-20.17 [[ 9.22486205e-01 3.55026535e-01 1.51576255e-01 1.24002839e+02] [-3.50562761e-01 9.34855248e-01 -5.61374752e-02 -3.09978618e+01] [-1.61632151e-01 -1.35094384e-03 9.86850152e-01 -2.01733256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:-31.01, Z:-20.18 [[ 9.22204043e-01 3.55756597e-01 1.51581487e-01 1.24029569e+02] [-3.51305979e-01 9.34577441e-01 -5.61169868e-02 -3.10062107e+01] [-1.61628627e-01 -1.50017064e-03 9.86850514e-01 -2.01779761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:-31.01, Z:-20.18 [[ 9.21831141e-01 3.56986104e-01 1.50957839e-01 1.24054505e+02] [-3.52590615e-01 9.34108111e-01 -5.58739253e-02 -3.10138062e+01] [-1.60957157e-01 -1.71999286e-03 9.86959896e-01 -2.01831120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:-31.02, Z:-20.19 [[ 9.21711465e-01 3.57361924e-01 1.50799302e-01 1.24080341e+02] [-3.52983055e-01 9.33964252e-01 -5.58008791e-02 -3.10225502e+01] [-1.60782267e-01 -1.79728833e-03 9.86988264e-01 -2.01879898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:-31.03, Z:-20.19 [[ 9.21527538e-01 3.57761818e-01 1.50975089e-01 1.24106149e+02] [-3.53379983e-01 9.33810979e-01 -5.58537715e-02 -3.10306534e+01] [-1.60964543e-01 -1.88078589e-03 9.86958398e-01 -2.01928729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:-31.04, Z:-20.20 [[ 9.21271321e-01 3.58387869e-01 1.51053927e-01 1.24132990e+02] [-3.54013675e-01 9.33570608e-01 -5.58590860e-02 -3.10376867e+01] [-1.61038726e-01 -2.01378210e-03 9.86946034e-01 -2.01977022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:-31.05, Z:-20.20 [[ 9.21213876e-01 3.58730192e-01 1.50590980e-01 1.24159297e+02] [-3.54389460e-01 9.33438979e-01 -5.56756910e-02 -3.10459059e+01] [-1.60540042e-01 -2.07863692e-03 9.87027140e-01 -2.02025877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:-31.05, Z:-20.21 [[ 9.21066441e-01 3.59362297e-01 1.49984504e-01 1.24185469e+02] [-3.55066964e-01 9.33195552e-01 -5.54392771e-02 -3.10517215e+01] [-1.59887658e-01 -2.19128492e-03 9.87132785e-01 -2.02070016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:-31.06, Z:-20.21 [[ 9.20897792e-01 3.59681154e-01 1.50255530e-01 1.24210695e+02] [-3.55376743e-01 9.33072527e-01 -5.55250408e-02 -3.10593651e+01] [-1.60170618e-01 -2.26443362e-03 9.87086747e-01 -2.02118202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:-31.07, Z:-20.22 [[ 9.20904186e-01 3.59675635e-01 1.50229552e-01 1.24237169e+02] [-3.55374765e-01 9.33074627e-01 -5.55023993e-02 -3.10676233e+01] [-1.60138244e-01 -2.27539999e-03 9.87091974e-01 -2.02162052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:-31.08, Z:-20.22 [[ 9.20888469e-01 3.59639524e-01 1.50412232e-01 1.24262898e+02] [-3.55332975e-01 9.33088479e-01 -5.55370868e-02 -3.10765216e+01] [-1.60321253e-01 -2.30296312e-03 9.87062203e-01 -2.02212448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:-31.08, Z:-20.23 [[ 9.21051510e-01 3.59106934e-01 1.50686181e-01 1.24289602e+02] [-3.54782824e-01 9.33293720e-01 -5.56055655e-02 -3.10846169e+01] [-1.60602811e-01 -2.24527894e-03 9.87016563e-01 -2.02264213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:-31.09, Z:-20.23 [[ 9.21253218e-01 3.58567327e-01 1.50738117e-01 1.24314844e+02] [-3.54238454e-01 9.33501315e-01 -5.55914837e-02 -3.10922349e+01] [-1.60647520e-01 -2.18340416e-03 9.87009426e-01 -2.02306922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:-31.10, Z:-20.24 [[ 9.21394389e-01 3.58234554e-01 1.50666470e-01 1.24341144e+02] [-3.53908911e-01 9.33629158e-01 -5.55434794e-02 -3.11002371e+01] [-1.60564203e-01 -2.14475597e-03 9.87023068e-01 -2.02358180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:-31.11, Z:-20.24 [[ 9.21623716e-01 3.57839687e-01 1.50201483e-01 1.24367030e+02] [-3.53540820e-01 9.33780676e-01 -5.53402004e-02 -3.11082103e+01] [-1.60058162e-01 -2.09951441e-03 9.87105352e-01 -2.02408558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:-31.12, Z:-20.25 [[ 9.21847865e-01 3.57612106e-01 1.49365645e-01 1.24393231e+02] [-3.53363471e-01 9.33867903e-01 -5.49999699e-02 -3.11169296e+01] [-1.59156437e-01 -2.07875804e-03 9.87251188e-01 -2.02465749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:-31.13, Z:-20.25 [[ 9.22088458e-01 3.57015179e-01 1.49308535e-01 1.24418031e+02] [-3.52767430e-01 9.34096427e-01 -5.49454714e-02 -3.11258545e+01] [-1.59084936e-01 -2.00660304e-03 9.87262861e-01 -2.02516086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:-31.13, Z:-20.26 [[ 9.22270764e-01 3.56583091e-01 1.49215071e-01 1.24444472e+02] [-3.52337344e-01 9.34261591e-01 -5.48969626e-02 -3.11348342e+01] [-1.58981238e-01 -1.94417818e-03 9.87279690e-01 -2.02562719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:-31.14, Z:-20.26 [[ 9.22348665e-01 3.56205547e-01 1.49634717e-01 1.24470124e+02] [-3.51932806e-01 9.34405700e-01 -5.50389696e-02 -3.11412439e+01] [-1.59424719e-01 -1.89624568e-03 9.87208267e-01 -2.02602550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.50, Y:-31.15, Z:-20.26 [[ 9.22233656e-01 3.56273865e-01 1.50179948e-01 1.24496501e+02] [-3.51973017e-01 9.34379587e-01 -5.52248438e-02 -3.11494439e+01] [-1.60000246e-01 -1.92907961e-03 9.87115090e-01 -2.02645168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:-31.16, Z:-20.27 [[ 9.21983106e-01 3.56648953e-01 1.50826642e-01 1.24523202e+02] [-3.52317810e-01 9.34236300e-01 -5.54499521e-02 -3.11575039e+01] [-1.60683891e-01 -2.01499298e-03 9.87003864e-01 -2.02689598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.55, Y:-31.17, Z:-20.27 [[ 9.21965538e-01 3.56633824e-01 1.50969738e-01 1.24548321e+02] [-3.52296280e-01 9.34242051e-01 -5.54898345e-02 -3.11661639e+01] [-1.60831830e-01 -2.02636209e-03 9.86979745e-01 -2.02730084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:-31.17, Z:-20.28 [[ 9.21779929e-01 3.56905589e-01 1.51460104e-01 1.24573746e+02] [-3.52545734e-01 9.34138112e-01 -5.56551273e-02 -3.11743303e+01] [-1.61348281e-01 -2.09483411e-03 9.86895305e-01 -2.02777766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:-31.18, Z:-20.28 [[ 9.21793743e-01 3.56869300e-01 1.51461541e-01 1.24600407e+02] [-3.52511048e-01 9.34151962e-01 -5.56423657e-02 -3.11826945e+01] [-1.61345148e-01 -2.10108217e-03 9.86895804e-01 -2.02826833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:124.63, Y:-31.19, Z:-20.29 [[ 9.21542630e-01 3.57547940e-01 1.51389078e-01 1.24626361e+02] [-3.53208529e-01 9.33892073e-01 -5.55817517e-02 -3.11898603e+01] [-1.61254200e-01 -2.25095971e-03 9.86910338e-01 -2.02868016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:-31.20, Z:-20.29 [[ 9.21286940e-01 3.58185212e-01 1.51438863e-01 1.24652448e+02] [-3.53855095e-01 9.33647508e-01 -5.55778929e-02 -3.11979825e+01] [-1.61297697e-01 -2.38422644e-03 9.86902917e-01 -2.02916969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:-31.21, Z:-20.30 [[ 9.21033926e-01 3.58791750e-01 1.51542031e-01 1.24678412e+02] [-3.54469306e-01 9.33414223e-01 -5.55823702e-02 -3.12060315e+01] [-1.61393983e-01 -2.52375012e-03 9.86886829e-01 -2.02962746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:-31.21, Z:-20.30 [[ 9.20420788e-01 3.60426678e-01 1.51387528e-01 1.24704357e+02] [-3.56140683e-01 9.32783225e-01 -5.54911661e-02 -3.12110800e+01] [-1.61212243e-01 -2.84003483e-03 9.86915674e-01 -2.03007853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:-31.22, Z:-20.31 [[ 9.20265484e-01 3.60961370e-01 1.51057370e-01 1.24729916e+02] [-3.56705160e-01 9.32576104e-01 -5.53465308e-02 -3.12187347e+01] [-1.60850453e-01 -2.94944150e-03 9.86974383e-01 -2.03050703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:-31.23, Z:-20.31 [[ 9.20083358e-01 3.61298930e-01 1.51359496e-01 1.24756789e+02] [-3.57032325e-01 9.32445129e-01 -5.54436736e-02 -3.12267781e+01] [-1.61166164e-01 -3.02743126e-03 9.86922642e-01 -2.03101773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:-31.23, Z:-20.31 [[ 9.20048282e-01 3.61230555e-01 1.51735444e-01 1.24782190e+02] [-3.56947375e-01 9.32471526e-01 -5.55466025e-02 -3.12341912e+01] [-1.61554112e-01 -3.05601232e-03 9.86859124e-01 -2.03147089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:-31.24, Z:-20.32 [[ 9.20140654e-01 3.60954717e-01 1.51831715e-01 1.24809202e+02] [-3.56664587e-01 9.32578445e-01 -5.55681150e-02 -3.12402282e+01] [-1.61652558e-01 -3.02251450e-03 9.86843105e-01 -2.03194669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:-31.25, Z:-20.32 [[ 9.20480743e-01 3.60225177e-01 1.51502554e-01 1.24835159e+02] [-3.55949199e-01 9.32860817e-01 -5.54153731e-02 -3.12481232e+01] [-1.61292809e-01 -2.91842880e-03 9.86902281e-01 -2.03246142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:124.86, Y:-31.26, Z:-20.33 [[ 9.20920685e-01 3.59288712e-01 1.51052023e-01 1.24860937e+02] [-3.55031162e-01 9.33222325e-01 -5.52174438e-02 -3.12568045e+01] [-1.60804124e-01 -2.77728908e-03 9.86982432e-01 -2.03286243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:-31.26, Z:-20.33 [[ 9.21797490e-01 3.56937937e-01 1.51276888e-01 1.24886592e+02] [-3.52641659e-01 9.34125011e-01 -5.52659362e-02 -3.12647808e+01] [-1.61038034e-01 -2.40253166e-03 9.86945277e-01 -2.03344440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:-31.27, Z:-20.34 [[ 9.22210074e-01 3.55854732e-01 1.51314207e-01 1.24912895e+02] [-3.51545422e-01 9.34538611e-01 -5.52575795e-02 -3.12727618e+01] [-1.61072640e-01 -2.23472032e-03 9.86940024e-01 -2.03392178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:-31.28, Z:-20.34 [[ 9.22607769e-01 3.54982279e-01 1.50938681e-01 1.24938153e+02] [-3.50688377e-01 9.34870650e-01 -5.50865600e-02 -3.12807834e+01] [-1.60662895e-01 -2.10915272e-03 9.87007085e-01 -2.03437761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:-31.29, Z:-20.35 [[ 9.23062342e-01 3.53877305e-01 1.50753988e-01 1.24964052e+02] [-3.49582898e-01 9.35289852e-01 -5.49971756e-02 -3.12888634e+01] [-1.60460928e-01 -1.93519449e-03 9.87040296e-01 -2.03487420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:-31.30, Z:-20.35 [[ 9.23686659e-01 3.52058527e-01 1.51187796e-01 1.24989213e+02] [-3.47720533e-01 9.35976523e-01 -5.51215044e-02 -3.12958812e+01] [-1.60914223e-01 -1.65610285e-03 9.86967006e-01 -2.03536410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:-31.30, Z:-20.36 [[ 9.24085317e-01 3.51053254e-01 1.51089176e-01 1.25015432e+02] [-3.46709744e-01 9.36354305e-01 -5.50723914e-02 -3.13046562e+01] [-1.60806343e-01 -1.49250132e-03 9.86984849e-01 -2.03583742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:-31.31, Z:-20.36 [[ 9.24629231e-01 3.49938573e-01 1.50345536e-01 1.25041119e+02] [-3.45628705e-01 9.36771714e-01 -5.47681946e-02 -3.13140706e+01] [-1.60004949e-01 -1.32345922e-03 9.87115325e-01 -2.03634125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:-31.32, Z:-20.37 [[ 9.25481909e-01 3.48026489e-01 1.49535275e-01 1.25066259e+02] [-3.43743931e-01 9.37484145e-01 -5.44388361e-02 -3.13238262e+01] [-1.59133106e-01 -1.01968524e-03 9.87256610e-01 -2.03680399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:-31.33, Z:-20.37 [[ 9.25833575e-01 3.47054185e-01 1.49618128e-01 1.25093034e+02] [-3.42756359e-01 9.37844680e-01 -5.44558048e-02 -3.13322808e+01] [-1.59217680e-01 -8.65552263e-04 9.87243122e-01 -2.03726511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:-31.34, Z:-20.38 [[ 9.25956569e-01 3.46725083e-01 1.49620017e-01 1.25119708e+02] [-3.42428111e-01 9.37966424e-01 -5.44240509e-02 -3.13405115e+01] [-1.59208736e-01 -8.39792464e-04 9.87244586e-01 -2.03772350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:125.15, Y:-31.35, Z:-20.38 [[ 9.25959263e-01 3.46842678e-01 1.49330506e-01 1.25145518e+02] [-3.42569222e-01 9.37922900e-01 -5.42859336e-02 -3.13489932e+01] [-1.58889179e-01 -8.89472038e-04 9.87296023e-01 -2.03812662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:-31.36, Z:-20.39 [[ 9.25550619e-01 3.47635002e-01 1.50019854e-01 1.25171503e+02] [-3.43335567e-01 9.37629352e-01 -5.45150124e-02 -3.13570049e+01] [-1.59614345e-01 -1.05074819e-03 9.87178888e-01 -2.03858964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:-31.37, Z:-20.39 [[ 9.25464292e-01 3.47806321e-01 1.50155277e-01 1.25197141e+02] [-3.43506503e-01 9.37565745e-01 -5.45321472e-02 -3.13658130e+01] [-1.59747070e-01 -1.11175930e-03 9.87157352e-01 -2.03905992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:-31.37, Z:-20.40 [[ 9.25528672e-01 3.47765103e-01 1.49853632e-01 1.25222773e+02] [-3.43487256e-01 9.37581010e-01 -5.43907572e-02 -3.13748785e+01] [-1.59415127e-01 -1.13260759e-03 9.87210988e-01 -2.03953688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:-31.38, Z:-20.40 [[ 9.25807842e-01 3.47071541e-01 1.49737056e-01 1.25248713e+02] [-3.42796483e-01 9.37838077e-01 -5.43167773e-02 -3.13836245e+01] [-1.59280921e-01 -1.04243798e-03 9.87232749e-01 -2.04004497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:-31.39, Z:-20.41 [[ 9.25985847e-01 3.46469752e-01 1.50029740e-01 1.25273478e+02] [-3.42175571e-01 9.38060639e-01 -5.43885607e-02 -3.13920146e+01] [-1.59580985e-01 -9.73474667e-04 9.87184360e-01 -2.04050521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:-31.40, Z:-20.41 [[ 9.26346970e-01 3.45479046e-01 1.50085041e-01 1.25299256e+02] [-3.41170910e-01 9.38426110e-01 -5.43952829e-02 -3.14012183e+01] [-1.59636152e-01 -8.15744458e-04 9.87175584e-01 -2.04097798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:-31.41, Z:-20.41 [[ 9.26587359e-01 3.44663278e-01 1.50476214e-01 1.25323138e+02] [-3.40531587e-01 9.38724443e-01 -5.32415060e-02 -3.14115126e+01] [-1.59606092e-01 -1.90899740e-03 9.87178936e-01 -2.04147993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:-31.42, Z:-20.42 [[ 9.26640420e-01 3.44667223e-01 1.50140057e-01 1.25349795e+02] [-3.40379750e-01 9.38724525e-01 -5.42023311e-02 -3.14203080e+01] [-1.59621921e-01 -8.78564181e-04 9.87177831e-01 -2.04195336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:-31.43, Z:-20.42 [[ 9.27432603e-01 3.43158704e-01 1.48697245e-01 1.25376907e+02] [-3.38738523e-01 9.39277276e-01 -5.49036551e-02 -3.14297969e+01] [-1.58508610e-01 5.49954644e-04 9.87357442e-01 -2.04240941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44587156000003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:125.40, Y:-31.44, Z:-20.43 [[ 9.27632759e-01 3.42535734e-01 1.48884977e-01 1.25402325e+02] [-3.38274211e-01 9.39504717e-01 -5.38650606e-02 -3.14396937e+01] [-1.58328846e-01 -3.96953364e-04 9.87386357e-01 -2.04281597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:-31.45, Z:-20.44 [[ 9.27538534e-01 3.41842910e-01 1.51048644e-01 1.25427317e+02] [-3.38043509e-01 9.39749474e-01 -5.09657975e-02 -3.14513642e+01] [-1.59370181e-01 -3.78827269e-03 9.87211626e-01 -2.04351497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:-31.46, Z:-20.44 [[ 9.27698655e-01 3.42896888e-01 1.47637832e-01 1.25455432e+02] [-3.38181308e-01 9.39369152e-01 -5.67362342e-02 -3.14567999e+01] [-1.58141103e-01 2.70577317e-03 9.87412817e-01 -2.04386757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.48, Y:-31.47, Z:-20.44 [[ 9.27573646e-01 3.42846914e-01 1.48536612e-01 1.25481093e+02] [-3.38620004e-01 9.39391149e-01 -5.36727289e-02 -3.14681331e+01] [-1.57935508e-01 -5.12059152e-04 9.87449297e-01 -2.04433479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:-31.48, Z:-20.45 [[ 9.27256646e-01 3.43644359e-01 1.48673023e-01 1.25505707e+02] [-3.39421763e-01 9.39099632e-01 -5.37098435e-02 -3.14775586e+01] [-1.58075866e-01 -6.60050278e-04 9.87426749e-01 -2.04481750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:-31.49, Z:-20.45 [[ 9.26633221e-01 3.45334903e-01 1.48642787e-01 1.25531116e+02] [-3.41137922e-01 9.38479025e-01 -5.36846153e-02 -3.14858992e+01] [-1.58037309e-01 -9.61743611e-04 9.87432673e-01 -2.04521196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.56, Y:-31.49, Z:-20.46 [[ 9.26272259e-01 3.46240180e-01 1.48786560e-01 1.25557360e+02] [-3.42048614e-01 9.38145225e-01 -5.37241311e-02 -3.14937919e+01] [-1.58184853e-01 -1.12906439e-03 9.87408870e-01 -2.04567018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:-31.50, Z:-20.46 [[ 9.25818469e-01 3.47375508e-01 1.48964488e-01 1.25582899e+02] [-3.43193766e-01 9.37725129e-01 -5.37552002e-02 -3.15019208e+01] [-1.58360984e-01 -1.35612645e-03 9.87380352e-01 -2.04609832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:-31.51, Z:-20.47 [[ 9.24815804e-01 3.49900101e-01 1.49283785e-01 1.25608681e+02] [-3.45734993e-01 9.36785282e-01 -5.38576829e-02 -3.15106090e+01] [-1.58691661e-01 -1.80419219e-03 9.87326542e-01 -2.04660548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-31.52, Z:-20.47 [[ 9.24355794e-01 3.51088795e-01 1.49341970e-01 1.25633473e+02] [-3.46940817e-01 9.36339950e-01 -5.38476253e-02 -3.15193804e+01] [-1.58740151e-01 -2.03846073e-03 9.87318292e-01 -2.04704021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:-31.53, Z:-20.48 [[ 9.23938079e-01 3.51974226e-01 1.49841817e-01 1.25658570e+02] [-3.47812095e-01 9.36007080e-01 -5.40138156e-02 -3.15278020e+01] [-1.59264472e-01 -2.21137520e-03 9.87233477e-01 -2.04750989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:-31.53, Z:-20.48 [[ 9.23430857e-01 3.53377286e-01 1.49666116e-01 1.25685155e+02] [-3.49245281e-01 9.35477649e-01 -5.39379523e-02 -3.15343113e+01] [-1.59069754e-01 -2.46221531e-03 9.87264276e-01 -2.04797796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:-31.54, Z:-20.48 [[ 9.23348313e-01 3.53679735e-01 1.49460826e-01 1.25711779e+02] [-3.49568132e-01 9.35363133e-01 -5.38324307e-02 -3.15422940e+01] [-1.58839587e-01 -2.54065790e-03 9.87301135e-01 -2.04846284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.74, Y:-31.55, Z:-20.49 [[ 9.23251570e-01 3.54120753e-01 1.49013524e-01 1.25736907e+02] [-3.50045169e-01 9.35195977e-01 -5.36364142e-02 -3.15502681e+01] [-1.58350615e-01 -2.64156049e-03 9.87379413e-01 -2.04888488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:-31.56, Z:-20.49 [[ 9.23227851e-01 3.54279857e-01 1.48782116e-01 1.25763971e+02] [-3.50221146e-01 9.35135614e-01 -5.35400069e-02 -3.15565472e+01] [-1.58099602e-01 -2.67701780e-03 9.87419541e-01 -2.04944437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:-31.56, Z:-20.50 [[ 9.23286220e-01 3.54200009e-01 1.48609920e-01 1.25789581e+02] [-3.50155175e-01 9.35165816e-01 -5.34438945e-02 -3.15643316e+01] [-1.57904745e-01 -2.69252121e-03 9.87450678e-01 -2.04995506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.81, Y:-31.57, Z:-20.50 [[ 9.23436411e-01 3.54134858e-01 1.47829961e-01 1.25814844e+02] [-3.50133919e-01 9.35190527e-01 -5.31499542e-02 -3.15730410e+01] [-1.57071431e-01 -2.67968067e-03 9.87583609e-01 -2.05041198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:-31.58, Z:-20.51 [[ 9.23577478e-01 3.53868785e-01 1.47585654e-01 1.25840829e+02] [-3.49880998e-01 9.35291326e-01 -5.30417144e-02 -3.15815987e+01] [-1.56805389e-01 -2.64928292e-03 9.87625967e-01 -2.05093074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:-31.59, Z:-20.51 [[ 9.23819500e-01 3.53007075e-01 1.48133509e-01 1.25867188e+02] [-3.48983907e-01 9.35617191e-01 -5.32043642e-02 -3.15867399e+01] [-1.57377775e-01 -2.54498166e-03 9.87535194e-01 -2.05133422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:-31.59, Z:-20.52 [[ 9.24025040e-01 3.52187773e-01 1.48800195e-01 1.25893467e+02] [-3.48119615e-01 9.35926212e-01 -5.34308905e-02 -3.15939901e+01] [-1.58083709e-01 -2.42878580e-03 9.87422727e-01 -2.05177984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:-31.60, Z:-20.52 [[ 9.24394075e-01 3.51207036e-01 1.48826116e-01 1.25918477e+02] [-3.47130285e-01 9.36295016e-01 -5.34060730e-02 -3.16020302e+01] [-1.58101739e-01 -2.29379460e-03 9.87420163e-01 -2.05222858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:-31.61, Z:-20.53 [[ 9.25114787e-01 3.49432657e-01 1.48524239e-01 1.25945047e+02] [-3.45351817e-01 9.36959351e-01 -5.32850578e-02 -3.16090810e+01] [-1.57780714e-01 -1.99832095e-03 9.87472153e-01 -2.05267148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:-31.62, Z:-20.53 [[ 9.25409208e-01 3.48618102e-01 1.48604226e-01 1.25970609e+02] [-3.44527852e-01 9.37262949e-01 -5.32796689e-02 -3.16164148e+01] [-1.57855493e-01 -1.89279866e-03 9.87460410e-01 -2.05311471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:126.00, Y:-31.62, Z:-20.54 [[ 9.25833017e-01 3.47668351e-01 1.48188871e-01 1.25997211e+02] [-3.43590971e-01 9.37615965e-01 -5.31182343e-02 -3.16249187e+01] [-1.57411781e-01 -1.73774300e-03 9.87531524e-01 -2.05354674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:-31.63, Z:-20.54 [[ 9.26345352e-01 3.46377649e-01 1.48009501e-01 1.26023330e+02] [-3.42298981e-01 9.38093881e-01 -5.30214833e-02 -3.16338450e+01] [-1.57212264e-01 -1.54729674e-03 9.87563623e-01 -2.05414246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:-31.64, Z:-20.55 [[ 9.27194293e-01 3.44538250e-01 1.46983459e-01 1.26049899e+02] [-3.40498376e-01 9.38771438e-01 -5.26216888e-02 -3.16419317e+01] [-1.56114058e-01 -1.25709976e-03 9.87738235e-01 -2.05469852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:-31.65, Z:-20.55 [[ 9.27444041e-01 3.43937818e-01 1.46813922e-01 1.26075195e+02] [-3.39905290e-01 9.38991676e-01 -5.25264361e-02 -3.16500713e+01] [-1.55922879e-01 -1.18749865e-03 9.87768518e-01 -2.05517986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:-31.66, Z:-20.56 [[ 9.27766159e-01 3.43060845e-01 1.46830549e-01 1.26100922e+02] [-3.39018472e-01 9.39312594e-01 -5.25197671e-02 -3.16589964e+01] [-1.55937260e-01 -1.05220586e-03 9.87766401e-01 -2.05564121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.13, Y:-31.67, Z:-20.56 [[ 9.27933252e-01 3.42552298e-01 1.46961909e-01 1.26126608e+02] [-3.38501395e-01 9.39498231e-01 -5.25345501e-02 -3.16683297e+01] [-1.56066284e-01 -9.98255156e-04 9.87746080e-01 -2.05614647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:-31.68, Z:-20.57 [[ 9.27921501e-01 3.42448517e-01 1.47277633e-01 1.26151579e+02] [-3.38384251e-01 9.39536046e-01 -5.26128965e-02 -3.16762171e+01] [-1.56389853e-01 -1.01579361e-03 9.87694883e-01 -2.05655626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:-31.68, Z:-20.57 [[ 9.27870387e-01 3.42509389e-01 1.47458003e-01 1.26177006e+02] [-3.38438135e-01 9.39513829e-01 -5.26630252e-02 -3.16845258e+01] [-1.56576413e-01 -1.04094984e-03 9.87665299e-01 -2.05700156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:-31.69, Z:-20.57 [[ 9.27858366e-01 3.42501421e-01 1.47552125e-01 1.26202672e+02] [-3.38426793e-01 9.39516721e-01 -5.26843055e-02 -3.16933318e+01] [-1.56672138e-01 -1.05201880e-03 9.87650107e-01 -2.05747136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:-31.70, Z:-20.58 [[ 9.27634550e-01 3.42935695e-01 1.47950164e-01 1.26228569e+02] [-3.38849849e-01 9.39358164e-01 -5.27922192e-02 -3.17014492e+01] [-1.57082531e-01 -1.16100432e-03 9.87584797e-01 -2.05787699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:-31.71, Z:-20.58 [[ 9.27435330e-01 3.43324889e-01 1.48296088e-01 1.26254350e+02] [-3.39228478e-01 9.39215871e-01 -5.28922180e-02 -3.17089773e+01] [-1.57441254e-01 -1.25214460e-03 9.87527561e-01 -2.05832833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.28, Y:-31.72, Z:-20.59 [[ 9.27284123e-01 3.43636580e-01 1.48519548e-01 1.26280755e+02] [-3.39533669e-01 9.39101785e-01 -5.29596609e-02 -3.17171145e+01] [-1.57673850e-01 -1.31873441e-03 9.87490364e-01 -2.05879498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:-31.73, Z:-20.59 [[ 9.26950790e-01 3.44683219e-01 1.48174599e-01 1.26307547e+02] [-3.40617979e-01 9.38717825e-01 -5.28037634e-02 -3.17250143e+01] [-1.57294708e-01 -1.52444224e-03 9.87550531e-01 -2.05924660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:-31.73, Z:-20.60 [[ 9.26821108e-01 3.45065442e-01 1.48096164e-01 1.26333255e+02] [-3.41012633e-01 9.38577251e-01 -5.27553638e-02 -3.17328377e+01] [-1.57203743e-01 -1.60787808e-03 9.87564883e-01 -2.05970859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:-31.74, Z:-20.60 [[ 9.26719585e-01 3.45297580e-01 1.48190392e-01 1.26359854e+02] [-3.41246029e-01 9.38491766e-01 -5.27669692e-02 -3.17400524e+01] [-1.57295770e-01 -1.66919900e-03 9.87550128e-01 -2.06017932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.39, Y:-31.75, Z:-20.61 [[ 9.26576945e-01 3.45662252e-01 1.48232157e-01 1.26386092e+02] [-3.41618026e-01 9.38357344e-01 -5.27505328e-02 -3.17471597e+01] [-1.57328601e-01 -1.76134945e-03 9.87544738e-01 -2.06065551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:-31.76, Z:-20.61 [[ 9.26673946e-01 3.45436732e-01 1.48151483e-01 1.26411908e+02] [-3.41399279e-01 9.38440403e-01 -5.26891055e-02 -3.17557430e+01] [-1.57232090e-01 -1.75318802e-03 9.87560123e-01 -2.06118306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:-31.76, Z:-20.62 [[ 9.26526947e-01 3.45260927e-01 1.49474774e-01 1.26438026e+02] [-3.41153959e-01 9.38505061e-01 -5.31246260e-02 -3.17622040e+01] [-1.58624689e-01 -1.77251334e-03 9.87337362e-01 -2.06153828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:-31.77, Z:-20.62 [[ 9.26519195e-01 3.45119138e-01 1.49849796e-01 1.26463165e+02] [-3.40991833e-01 9.38557223e-01 -5.32438628e-02 -3.17697547e+01] [-1.59018085e-01 -1.76609582e-03 9.87274090e-01 -2.06195695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:-31.78, Z:-20.62 [[ 9.26672135e-01 3.44784051e-01 1.49675358e-01 1.26489053e+02] [-3.40665477e-01 9.38680444e-01 -5.31606603e-02 -3.17784758e+01] [-1.58826280e-01 -1.72672475e-03 9.87305035e-01 -2.06245757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:-31.79, Z:-20.63 [[ 9.26844114e-01 3.44507729e-01 1.49246151e-01 1.26515044e+02] [-3.40414509e-01 9.38781933e-01 -5.29758908e-02 -3.17877498e+01] [-1.58360194e-01 -1.70516252e-03 9.87379938e-01 -2.06294470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:-31.80, Z:-20.63 [[ 9.27063294e-01 3.43844201e-01 1.49414909e-01 1.26541477e+02] [-3.39738318e-01 9.39025307e-01 -5.30032922e-02 -3.17952487e+01] [-1.58529255e-01 -1.62456318e-03 9.87352944e-01 -2.06347212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:126.57, Y:-31.80, Z:-20.64 [[ 9.27250635e-01 3.43298567e-01 1.49507036e-01 1.26567247e+02] [-3.39452196e-01 9.39221066e-01 -5.13419419e-02 -3.18045851e+01] [-1.58045772e-01 -3.14364335e-03 9.87426783e-01 -2.06389630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:-31.81, Z:-20.64 [[ 9.27556459e-01 3.43030608e-01 1.48219490e-01 1.26593352e+02] [-3.38730833e-01 9.39324226e-01 -5.41425991e-02 -3.18117298e+01] [-1.57798726e-01 1.38063865e-05 9.87471297e-01 -2.06445772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:-31.82, Z:-20.65 [[ 9.27902650e-01 3.41962362e-01 1.48520758e-01 1.26619299e+02] [-3.37893674e-01 9.39712657e-01 -5.26116619e-02 -3.18215145e+01] [-1.57558044e-01 -1.36572410e-03 9.87508784e-01 -2.06487970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.64, Y:-31.83, Z:-20.65 [[ 9.27959777e-01 3.41780178e-01 1.48583180e-01 1.26644594e+02] [-3.37711066e-01 9.39778932e-01 -5.26003336e-02 -3.18288208e+01] [-1.57613094e-01 -1.36719030e-03 9.87499997e-01 -2.06521679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:-31.84, Z:-20.66 [[ 9.28014318e-01 3.41523073e-01 1.48833521e-01 1.26671122e+02] [-3.37440314e-01 9.39872427e-01 -5.26674135e-02 -3.18373128e+01] [-1.57871659e-01 -1.34631623e-03 9.87458721e-01 -2.06575751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:-31.85, Z:-20.66 [[ 9.27917479e-01 3.41585658e-01 1.49292971e-01 1.26696488e+02] [-3.37483718e-01 9.39849614e-01 -5.27962435e-02 -3.18459051e+01] [-1.58347381e-01 -1.39338972e-03 9.87382482e-01 -2.06617015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:126.72, Y:-31.85, Z:-20.67 [[ 9.27599864e-01 3.42275357e-01 1.49686584e-01 1.26722597e+02] [-3.38162608e-01 9.39598450e-01 -5.29226144e-02 -3.18545551e+01] [-1.58759389e-01 -1.52739577e-03 9.87316121e-01 -2.06652207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:-31.86, Z:-20.67 [[ 9.27657555e-01 3.42149771e-01 1.49616160e-01 1.26747936e+02] [-3.38044733e-01 9.39644172e-01 -5.28638662e-02 -3.18626809e+01] [-1.58673312e-01 -1.53738987e-03 9.87329943e-01 -2.06706680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:-31.87, Z:-20.68 [[ 9.27953603e-01 3.41737037e-01 1.48720907e-01 1.26774173e+02] [-3.37678021e-01 9.39794465e-01 -5.25349089e-02 -3.18712745e+01] [-1.57720209e-01 -1.46982365e-03 9.87482747e-01 -2.06753561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:-31.88, Z:-20.68 [[ 9.28156064e-01 3.41253536e-01 1.48567644e-01 1.26800598e+02] [-3.37201763e-01 9.39970223e-01 -5.24495169e-02 -3.18803207e+01] [-1.57547745e-01 -1.41593427e-03 9.87510356e-01 -2.06798357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:126.83, Y:-31.89, Z:-20.68 [[ 9.28270875e-01 3.41003431e-01 1.48424536e-01 1.26825874e+02] [-3.36961733e-01 9.40061002e-01 -5.23650935e-02 -3.18885651e+01] [-1.57384794e-01 -1.40439749e-03 9.87536356e-01 -2.06830026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.85, Y:-31.90, Z:-20.69 [[ 9.28704457e-01 3.39825686e-01 1.48413390e-01 1.26851294e+02] [-3.35771894e-01 9.40487650e-01 -5.23470684e-02 -3.18972093e+01] [-1.57369838e-01 -1.21808918e-03 9.87538987e-01 -2.06882660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.88, Y:-31.91, Z:-20.69 [[ 9.28814117e-01 3.39433307e-01 1.48624915e-01 1.26877083e+02] [-3.35364876e-01 9.40629402e-01 -5.24092311e-02 -3.19060162e+01] [-1.57590403e-01 -1.16514244e-03 9.87503877e-01 -2.06928157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.90, Y:-31.91, Z:-20.70 [[ 9.28763583e-01 3.39352907e-01 1.49123477e-01 1.26902725e+02] [-3.35261454e-01 9.40658383e-01 -5.25505901e-02 -3.19146635e+01] [-1.58107444e-01 -1.18827923e-03 9.87421199e-01 -2.06971432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:-31.92, Z:-20.70 [[ 9.28783387e-01 3.39378820e-01 1.48941053e-01 1.26929040e+02] [-3.35299835e-01 9.40649014e-01 -5.24733523e-02 -3.19212232e+01] [-1.57909599e-01 -1.20353251e-03 9.87452839e-01 -2.07025370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:-31.93, Z:-20.71 [[ 9.28821418e-01 3.39568197e-01 1.48270741e-01 1.26955528e+02] [-3.35533415e-01 9.40580593e-01 -5.22060786e-02 -3.19290277e+01] [-1.57188105e-01 -1.25966393e-03 9.87567878e-01 -2.07070015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:-31.94, Z:-20.71 [[ 9.28861610e-01 3.39453741e-01 1.48281040e-01 1.26982035e+02] [-3.35422183e-01 9.40621890e-01 -5.21768077e-02 -3.19382130e+01] [-1.57188005e-01 -1.27171659e-03 9.87567878e-01 -2.07118538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:-31.95, Z:-20.72 [[ 9.28903177e-01 3.39586745e-01 1.47715031e-01 1.27008308e+02] [-3.35590710e-01 9.40573833e-01 -5.19590319e-02 -3.19461439e+01] [-1.56581491e-01 -1.30688213e-03 9.87664178e-01 -2.07167596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:-31.95, Z:-20.72 [[ 9.28848763e-01 3.39683373e-01 1.47834979e-01 1.27033518e+02] [-3.35687551e-01 9.40538869e-01 -5.19663825e-02 -3.19536324e+01] [-1.56696660e-01 -1.35745175e-03 9.87645845e-01 -2.07214754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:-31.96, Z:-20.73 [[ 9.28886478e-01 3.39594845e-01 1.47801399e-01 1.27059187e+02] [-3.35601936e-01 9.40570840e-01 -5.19406976e-02 -3.19612459e+01] [-1.56656479e-01 -1.35542399e-03 9.87652221e-01 -2.07258831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:-31.97, Z:-20.73 [[ 9.29010733e-01 3.39281800e-01 1.47739360e-01 1.27085697e+02] [-3.35291464e-01 9.40683855e-01 -5.18991226e-02 -3.19701778e+01] [-1.56584459e-01 -1.32090452e-03 9.87663689e-01 -2.07307180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:-31.98, Z:-20.74 [[ 9.29195175e-01 3.38831524e-01 1.47612756e-01 1.27110521e+02] [-3.34847751e-01 9.40846199e-01 -5.18209728e-02 -3.19782612e+01] [-1.56439480e-01 -1.27600158e-03 9.87686722e-01 -2.07351820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:-31.99, Z:-20.74 [[ 9.29684690e-01 3.37527343e-01 1.47518373e-01 1.27136947e+02] [-3.33534318e-01 9.41315119e-01 -5.17755308e-02 -3.19864518e+01] [-1.56336932e-01 -1.06752158e-03 9.87703207e-01 -2.07401404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:-31.99, Z:-20.74 [[ 9.30124844e-01 3.36432562e-01 1.47244373e-01 1.27162358e+02] [-3.32446182e-01 9.41707118e-01 -5.16453362e-02 -3.19947998e+01] [-1.56036247e-01 -9.14219388e-04 9.87750907e-01 -2.07444767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:-32.00, Z:-20.75 [[ 9.30509248e-01 3.35406970e-01 1.47155375e-01 1.27188951e+02] [-3.31414642e-01 9.42073032e-01 -5.16017260e-02 -3.20024245e+01] [-1.55938689e-01 -7.53562653e-04 9.87766449e-01 -2.07489674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:-32.01, Z:-20.75 [[ 9.30705676e-01 3.34651658e-01 1.47632020e-01 1.27214792e+02] [-3.30629274e-01 9.42341674e-01 -5.17344506e-02 -3.20096261e+01] [-1.56432825e-01 -6.61920867e-04 9.87688379e-01 -2.07534076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:-32.02, Z:-20.76 [[ 9.31127556e-01 3.33225749e-01 1.48196070e-01 1.27240486e+02] [-3.29156448e-01 9.42846971e-01 -5.19193822e-02 -3.20186083e+01] [-1.57027091e-01 -4.36124713e-04 9.87594199e-01 -2.07580983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:-32.03, Z:-20.76 [[ 9.31451414e-01 3.32496211e-01 1.47798961e-01 1.27265494e+02] [-3.28445097e-01 9.43104528e-01 -5.17461809e-02 -3.20277783e+01] [-1.56595279e-01 -3.44790715e-04 9.87662797e-01 -2.07626531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:127.29, Y:-32.04, Z:-20.77 [[ 9.31571844e-01 3.32373677e-01 1.47314761e-01 1.27290740e+02] [-3.28349924e-01 9.43147722e-01 -5.15626028e-02 -3.20363902e+01] [-1.56077633e-01 -3.36521588e-04 9.87744734e-01 -2.07663422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:-32.04, Z:-20.77 [[ 9.32053654e-01 3.31237104e-01 1.46826317e-01 1.27317454e+02] [-3.27228008e-01 9.43547538e-01 -5.13797045e-02 -3.20443702e+01] [-1.55556475e-01 -1.57042116e-04 9.87826988e-01 -2.07722234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:-32.05, Z:-20.78 [[ 9.32131387e-01 3.30955324e-01 1.46968198e-01 1.27342909e+02] [-3.26940279e-01 9.43646413e-01 -5.13955345e-02 -3.20531404e+01] [-1.55695639e-01 -1.42432824e-04 9.87805066e-01 -2.07765948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.37, Y:-32.06, Z:-20.78 [[ 9.32178731e-01 3.30536847e-01 1.47608290e-01 1.27369701e+02] [-3.26483285e-01 9.43793084e-01 -5.16069624e-02 -3.20619565e+01] [-1.56369686e-01 -8.47269179e-05 9.87698595e-01 -2.07800171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:-32.07, Z:-20.78 [[ 9.32559080e-01 3.28877995e-01 1.48905430e-01 1.27395988e+02] [-3.24736577e-01 9.44372404e-01 -5.20280511e-02 -3.20708169e+01] [-1.57733060e-01 1.64191964e-04 9.87481774e-01 -2.07844189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.42, Y:-32.08, Z:-20.79 [[ 9.32828202e-01 3.28254834e-01 1.48594446e-01 1.27420981e+02] [-3.24128475e-01 9.44589174e-01 -5.18847078e-02 -3.20811617e+01] [-1.57392112e-01 2.35827389e-04 9.87536160e-01 -2.07882504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:-32.09, Z:-20.79 [[ 9.33390864e-01 3.26935744e-01 1.47967954e-01 1.27446717e+02] [-3.22829877e-01 9.45046466e-01 -5.16531523e-02 -3.20916997e+01] [-1.56723854e-01 4.44103929e-04 9.87642363e-01 -2.07945174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:-32.10, Z:-20.80 [[ 9.33746272e-01 3.26093836e-01 1.47582890e-01 1.27471813e+02] [-3.22004260e-01 9.45337244e-01 -5.14854428e-02 -3.21013188e+01] [-1.56304688e-01 5.52020886e-04 9.87708732e-01 -2.07995711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:-32.11, Z:-20.80 [[ 9.33966943e-01 3.25301297e-01 1.47935172e-01 1.27497737e+02] [-3.21184115e-01 9.45610179e-01 -5.15960578e-02 -3.21111101e+01] [-1.56673269e-01 6.74585262e-04 9.87650258e-01 -2.08040227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:127.52, Y:-32.12, Z:-20.81 [[ 9.34034515e-01 3.24972196e-01 1.48231563e-01 1.27524269e+02] [-3.20839393e-01 9.45723311e-01 -5.16672265e-02 -3.21210195e+01] [-1.56976457e-01 7.00448135e-04 9.87602097e-01 -2.08070587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:-32.13, Z:-20.81 [[ 9.34148196e-01 3.24430589e-01 1.48700846e-01 1.27548881e+02] [-3.20269988e-01 9.45909199e-01 -5.17969303e-02 -3.21304669e+01] [-1.57462007e-01 7.61590827e-04 9.87524752e-01 -2.08124392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:-32.14, Z:-20.82 [[ 9.34286212e-01 3.24012197e-01 1.48745994e-01 1.27573667e+02] [-3.19846019e-01 9.46052549e-01 -5.17986368e-02 -3.21404204e+01] [-1.57504917e-01 8.18938175e-04 9.87517863e-01 -2.08165819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:-32.15, Z:-20.82 [[ 9.34636076e-01 3.22912697e-01 1.48938897e-01 1.27598121e+02] [-3.18723871e-01 9.46428235e-01 -5.18525798e-02 -3.21518829e+01] [-1.57703834e-01 9.92909950e-04 9.87485957e-01 -2.08213085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:-32.16, Z:-20.83 [[ 9.34805648e-01 3.22534579e-01 1.48693800e-01 1.27623974e+02] [-3.18358051e-01 9.46557115e-01 -5.17472556e-02 -3.21621732e+01] [-1.57437453e-01 1.03575847e-03 9.87528418e-01 -2.08259210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:-32.17, Z:-20.83 [[ 9.35041985e-01 3.22082246e-01 1.48187424e-01 1.27649856e+02] [-3.17933629e-01 9.46711078e-01 -5.15397225e-02 -3.21726861e+01] [-1.56890705e-01 1.07803906e-03 9.87615383e-01 -2.08306193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:-32.18, Z:-20.84 [[ 9.35099911e-01 3.21899956e-01 1.48217998e-01 1.27673807e+02] [-3.17752603e-01 9.46773077e-01 -5.15172267e-02 -3.21840729e+01] [-1.56912203e-01 1.07709938e-03 9.87611969e-01 -2.08354000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:-32.19, Z:-20.84 [[ 9.35091066e-01 3.21871872e-01 1.48334742e-01 1.27699866e+02] [-3.17719551e-01 9.46782632e-01 -5.15454724e-02 -3.21946067e+01] [-1.57031795e-01 1.07086301e-03 9.87592967e-01 -2.08399274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:-32.20, Z:-20.84 [[ 9.35124993e-01 3.21903543e-01 1.48051869e-01 1.27725163e+02] [-3.17772468e-01 9.46771905e-01 -5.14161317e-02 -3.22047795e+01] [-1.56722385e-01 1.03370221e-03 9.87642155e-01 -2.08441167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:127.75, Y:-32.22, Z:-20.85 [[ 9.34790661e-01 3.22995398e-01 1.47784955e-01 1.27749210e+02] [-3.18898007e-01 9.46400182e-01 -5.12909102e-02 -3.22167273e+01] [-1.56430436e-01 8.17936224e-04 9.87688640e-01 -2.08476769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:-32.23, Z:-20.85 [[ 9.34698552e-01 3.23254938e-01 1.47800077e-01 1.27774597e+02] [-3.19161823e-01 9.46311610e-01 -5.12841866e-02 -3.22267715e+01] [-1.56442795e-01 7.63113076e-04 9.87686726e-01 -2.08531094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:-32.24, Z:-20.86 [[ 9.34442134e-01 3.23941172e-01 1.47918946e-01 1.27799059e+02] [-3.19854980e-01 9.46077024e-01 -5.12938305e-02 -3.22366181e+01] [-1.56558899e-01 6.18505053e-04 9.87668430e-01 -2.08574324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:127.82, Y:-32.25, Z:-20.86 [[ 9.34068349e-01 3.25096472e-01 1.47745059e-01 1.27824891e+02] [-3.21037455e-01 9.45680770e-01 -5.12136019e-02 -3.22472472e+01] [-1.56369022e-01 4.05306942e-04 9.87698620e-01 -2.08608346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:-32.26, Z:-20.87 [[ 9.33991402e-01 3.25213589e-01 1.47973583e-01 1.27849368e+02] [-3.21148702e-01 9.45640521e-01 -5.12592983e-02 -3.22565225e+01] [-1.56600037e-01 3.54219701e-04 9.87662039e-01 -2.08660686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:-32.27, Z:-20.87 [[ 9.33982744e-01 3.25095373e-01 1.48287670e-01 1.27874196e+02] [-3.21013845e-01 9.45681166e-01 -5.13541023e-02 -3.22666626e+01] [-1.56927838e-01 3.61450336e-04 9.87610006e-01 -2.08703799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:-32.28, Z:-20.87 [[ 9.34208501e-01 3.24536838e-01 1.48088884e-01 1.27899426e+02] [-3.20461268e-01 9.45872954e-01 -5.12731092e-02 -3.22777749e+01] [-1.56713282e-01 4.43023120e-04 9.87644041e-01 -2.08749576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:-32.29, Z:-20.88 [[ 9.34325759e-01 3.24332056e-01 1.47797474e-01 1.27924394e+02] [-3.20275335e-01 9.45943191e-01 -5.11389253e-02 -3.22868483e+01] [-1.56394007e-01 4.44529729e-04 9.87694648e-01 -2.08795464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:-32.30, Z:-20.88 [[ 9.34418174e-01 3.24030093e-01 1.47875540e-01 1.27950462e+02] [-3.19967249e-01 9.46046651e-01 -5.11536377e-02 -3.22967353e+01] [-1.56472478e-01 4.83558918e-04 9.87682201e-01 -2.08842998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:-32.31, Z:-20.89 [[ 9.34350135e-01 3.23456004e-01 1.49552796e-01 1.27975786e+02] [-3.19297674e-01 9.46243047e-01 -5.17019471e-02 -3.23089813e+01] [-1.58236598e-01 5.55861521e-04 9.87401068e-01 -2.08883736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:-32.32, Z:-20.89 [[ 9.34437673e-01 3.23010309e-01 1.49968578e-01 1.28001407e+02] [-3.18828048e-01 9.46395254e-01 -5.18140847e-02 -3.23185555e+01] [-1.58666034e-01 6.02843632e-04 9.87332126e-01 -2.08923700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:-32.33, Z:-20.90 [[ 9.34581365e-01 3.22494160e-01 1.50183850e-01 1.28026823e+02] [-3.18298380e-01 9.46571223e-01 -5.18561535e-02 -3.23276100e+01] [-1.58883017e-01 6.60518599e-04 9.87297195e-01 -2.08967382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.05, Y:-32.34, Z:-20.90 [[ 9.34791836e-01 3.21795518e-01 1.50372431e-01 1.28051675e+02] [-3.17583603e-01 9.46808886e-01 -5.18997855e-02 -3.23369073e+01] [-1.59075073e-01 7.59677261e-04 9.87266197e-01 -2.09005509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:-32.35, Z:-20.91 [[ 9.35570835e-01 3.19756151e-01 1.49877339e-01 1.28074914e+02] [-3.15549582e-01 9.47499253e-01 -5.17071356e-02 -3.23493188e+01] [-1.58542341e-01 1.08195629e-03 9.87351586e-01 -2.09063663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:128.10, Y:-32.36, Z:-20.91 [[ 9.35957681e-01 3.18760096e-01 1.49583491e-01 1.28100432e+02] [-3.14559407e-01 9.47834623e-01 -5.15936722e-02 -3.23603349e+01] [-1.58226416e-01 1.23659948e-03 9.87402082e-01 -2.09111448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:-32.37, Z:-20.92 [[ 9.36474687e-01 3.17552788e-01 1.48914030e-01 1.28125074e+02] [-3.13379689e-01 9.48239556e-01 -5.13314148e-02 -3.23704296e+01] [-1.57506608e-01 1.40393801e-03 9.87516935e-01 -2.09163453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:-32.38, Z:-20.92 [[ 9.36774574e-01 3.16741380e-01 1.48755828e-01 1.28149107e+02] [-3.12570456e-01 9.48510724e-01 -5.12554006e-02 -3.23807020e+01] [-1.57331205e-01 1.51807891e-03 9.87544727e-01 -2.09211272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:-32.39, Z:-20.93 [[ 9.37299815e-01 3.14884495e-01 1.49388124e-01 1.28173277e+02] [-3.10656501e-01 9.49128244e-01 -5.14598289e-02 -3.23944291e+01] [-1.57992391e-01 1.82489604e-03 9.87438643e-01 -2.09261330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:-32.41, Z:-20.93 [[ 9.37539900e-01 3.14133139e-01 1.49463399e-01 1.28198518e+02] [-3.09893262e-01 9.49376955e-01 -5.14739065e-02 -3.24057471e+01] [-1.58066767e-01 1.94114068e-03 9.87426518e-01 -2.09307730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:-32.42, Z:-20.94 [[ 9.37807375e-01 3.13482957e-01 1.49150137e-01 1.28224380e+02] [-3.09254667e-01 9.49591646e-01 -5.13542267e-02 -3.24166261e+01] [-1.57730399e-01 2.03499663e-03 9.87480116e-01 -2.09356050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:-32.43, Z:-20.94 [[ 9.38000573e-01 3.13374663e-01 1.48159526e-01 1.28248517e+02] [-3.09203174e-01 9.49627404e-01 -5.10018765e-02 -3.24283435e+01] [-1.56679042e-01 2.02839379e-03 9.87647489e-01 -2.09403388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:-32.44, Z:-20.94 [[ 9.37944198e-01 3.13867087e-01 1.47472483e-01 1.28274403e+02] [-3.09743523e-01 9.49464992e-01 -5.07462189e-02 -3.24390871e+01] [-1.55947528e-01 1.91847511e-03 9.87763478e-01 -2.09446980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:-32.45, Z:-20.95 [[ 9.37691851e-01 3.14772166e-01 1.47147805e-01 1.28299536e+02] [-3.10679749e-01 9.49165639e-01 -5.06229413e-02 -3.24489718e+01] [-1.55602333e-01 1.75287649e-03 9.87818223e-01 -2.09492217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:-32.46, Z:-20.95 [[ 9.36598221e-01 3.18198646e-01 1.46742614e-01 1.28324473e+02] [-3.14172787e-01 9.48023343e-01 -5.04698002e-02 -3.24607519e+01] [-1.55174845e-01 1.16738910e-03 9.87886332e-01 -2.09540346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.35, Y:-32.47, Z:-20.96 [[ 9.35830513e-01 3.20440312e-01 1.46762585e-01 1.28349533e+02] [-3.16442561e-01 9.47268384e-01 -5.04649894e-02 -3.24715121e+01] [-1.55194574e-01 7.84748664e-04 9.87883611e-01 -2.09588935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:-32.48, Z:-20.96 [[ 9.35125379e-01 3.22454138e-01 1.46846360e-01 1.28375431e+02] [-3.18478284e-01 9.46584986e-01 -5.04821490e-02 -3.24821952e+01] [-1.55280737e-01 4.39762176e-04 9.87870285e-01 -2.09633988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.40, Y:-32.49, Z:-20.97 [[ 9.33909396e-01 3.25589260e-01 1.47664736e-01 1.28400026e+02] [-3.21609314e-01 9.45511304e-01 -5.07525778e-02 -3.24913237e+01] [-1.56143171e-01 -9.20450694e-05 9.87734429e-01 -2.09679313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:-32.50, Z:-20.97 [[ 9.33608681e-01 3.26478196e-01 1.47603584e-01 1.28426196e+02] [-3.22516101e-01 9.45204697e-01 -5.07094218e-02 -3.25003968e+01] [-1.56071121e-01 -2.61775907e-04 9.87745785e-01 -2.09726499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:-32.51, Z:-20.98 [[ 9.33520964e-01 3.26900707e-01 1.47222748e-01 1.28452150e+02] [-3.22966217e-01 9.45058628e-01 -5.05669097e-02 -3.25106588e+01] [-1.55664487e-01 -3.42703798e-04 9.87809926e-01 -2.09778519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:-32.52, Z:-20.98 [[ 9.33640705e-01 3.26623425e-01 1.47078799e-01 1.28476137e+02] [-3.22694998e-01 9.45154508e-01 -5.05063737e-02 -3.25238576e+01] [-1.55508755e-01 -3.06786563e-04 9.87834466e-01 -2.09827451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:128.50, Y:-32.53, Z:-20.99 [[ 9.33723934e-01 3.26298502e-01 1.47271527e-01 1.28501313e+02] [-3.22359069e-01 9.45266742e-01 -5.05511418e-02 -3.25338070e+01] [-1.55705638e-01 -2.73501343e-04 9.87803462e-01 -2.09857987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:-32.54, Z:-20.99 [[ 9.33711900e-01 3.25886795e-01 1.48256143e-01 1.28525596e+02] [-3.21891176e-01 9.45408773e-01 -5.08755568e-02 -3.25433973e+01] [-1.56742330e-01 -2.19231314e-04 9.87639506e-01 -2.09914644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:-32.56, Z:-21.00 [[ 9.34108194e-01 3.24565521e-01 1.48657675e-01 1.28549818e+02] [-3.20533613e-01 9.45863216e-01 -5.09998106e-02 -3.25583610e+01] [-1.57162607e-01 -1.04406556e-05 9.87572739e-01 -2.09960396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:-32.57, Z:-21.00 [[ 9.34398076e-01 3.23601106e-01 1.48938109e-01 1.28574687e+02] [-3.19543737e-01 9.46193587e-01 -5.10832193e-02 -3.25689517e+01] [-1.57454870e-01 1.39821883e-04 9.87526174e-01 -2.10008185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:-32.58, Z:-21.01 [[ 9.34435805e-01 3.23490766e-01 1.48941097e-01 1.28601281e+02] [-3.19433394e-01 9.46231315e-01 -5.10745048e-02 -3.25779126e+01] [-1.57454861e-01 1.49085836e-04 9.87526174e-01 -2.10056678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.63, Y:-32.59, Z:-21.01 [[ 9.34685658e-01 3.22850654e-01 1.48762149e-01 1.28626037e+02] [-3.18798143e-01 9.46449892e-01 -5.09935803e-02 -3.25874362e+01] [-1.57259231e-01 2.37871211e-04 9.87557329e-01 -2.10088690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:-32.60, Z:-21.01 [[ 9.34952798e-01 3.22123308e-01 1.48660151e-01 1.28651297e+02] [-3.18070613e-01 9.46697660e-01 -5.09374741e-02 -3.25967903e+01] [-1.57144365e-01 3.39708518e-04 9.87575584e-01 -2.10145837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:-32.61, Z:-21.02 [[ 9.35248882e-01 3.21295008e-01 1.48590198e-01 1.28675830e+02] [-3.17237633e-01 9.46979039e-01 -5.09017164e-02 -3.26087097e+01] [-1.57066270e-01 4.67370618e-04 9.87587955e-01 -2.10194121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:-32.62, Z:-21.02 [[ 9.35325003e-01 3.21011886e-01 1.48722923e-01 1.28701357e+02] [-3.16945533e-01 9.47075031e-01 -5.09353879e-02 -3.26194191e+01] [-1.57202632e-01 5.04075688e-04 9.87566240e-01 -2.10240197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:-32.63, Z:-21.03 [[ 9.35432013e-01 3.20873261e-01 1.48348574e-01 1.28727045e+02] [-3.16827602e-01 9.47122001e-01 -5.07955240e-02 -3.26307923e+01] [-1.56803124e-01 5.14836174e-04 9.87629746e-01 -2.10287342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:-32.64, Z:-21.03 [[ 9.35499131e-01 3.20849013e-01 1.47977318e-01 1.28753329e+02] [-3.16825359e-01 9.47130221e-01 -5.06560668e-02 -3.26427549e+01] [-1.56406738e-01 5.05739704e-04 9.87692602e-01 -2.10334781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40587156000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:128.78, Y:-32.66, Z:-21.04 [[ 9.35340519e-01 3.21136505e-01 1.48355851e-01 1.28778215e+02] [-3.17096978e-01 9.47032809e-01 -5.07775993e-02 -3.26554089e+01] [-1.56804399e-01 4.51154110e-04 9.87629575e-01 -2.10369410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:-32.66, Z:-21.04 [[ 9.35136898e-01 3.21620816e-01 1.48590151e-01 1.28803671e+02] [-3.17576117e-01 9.46868481e-01 -5.08477083e-02 -3.26648302e+01] [-1.57049012e-01 3.60884903e-04 9.87590744e-01 -2.10425246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:-32.67, Z:-21.05 [[ 9.34882192e-01 3.22353321e-01 1.48605601e-01 1.28828282e+02] [-3.18318820e-01 9.46619398e-01 -5.08413583e-02 -3.26745389e+01] [-1.57061825e-01 2.26720957e-04 9.87588746e-01 -2.10473074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:-32.68, Z:-21.05 [[ 9.34728255e-01 3.22963651e-01 1.48248337e-01 1.28853689e+02] [-3.18958435e-01 9.46411363e-01 -5.07055066e-02 -3.26839076e+01] [-1.56679946e-01 1.10812048e-04 9.87649423e-01 -2.10517633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:-32.69, Z:-21.06 [[ 9.33975491e-01 3.25013801e-01 1.48511989e-01 1.28879463e+02] [-3.21022167e-01 9.45709241e-01 -5.07818861e-02 -3.26928359e+01] [-1.56953975e-01 -2.46603644e-04 9.87605888e-01 -2.10563011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:-32.70, Z:-21.06 [[ 9.33540485e-01 3.26358472e-01 1.48298044e-01 1.28904972e+02] [-3.22397111e-01 9.45245954e-01 -5.06970277e-02 -3.27023054e+01] [-1.56723530e-01 -4.83132935e-04 9.87642396e-01 -2.10608060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:128.93, Y:-32.71, Z:-21.07 [[ 9.33078116e-01 3.27816446e-01 1.47991917e-01 1.28929854e+02] [-3.23891561e-01 9.44741146e-01 -5.05808529e-02 -3.27117275e+01] [-1.56395288e-01 -7.37446007e-04 9.87694269e-01 -2.10650700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61587156000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:128.96, Y:-32.72, Z:-21.07 [[ 9.32385569e-01 3.30051521e-01 1.47387732e-01 1.28956156e+02] [-3.26188690e-01 9.43962254e-01 -5.03607072e-02 -3.27201531e+01] [-1.55750084e-01 -1.12061476e-03 9.87795857e-01 -2.10701292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.98, Y:-32.73, Z:-21.08 [[ 9.32101221e-01 3.30891309e-01 1.47303279e-01 1.28982794e+02] [-3.27045208e-01 9.43668016e-01 -5.03200403e-02 -3.27286023e+01] [-1.55655857e-01 -1.27146062e-03 9.87810527e-01 -2.10750480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:-32.74, Z:-21.08 [[ 9.31988370e-01 3.31201786e-01 1.47319566e-01 1.29008655e+02] [-3.27360553e-01 9.43559005e-01 -5.03137450e-02 -3.27372457e+01] [-1.55668706e-01 -1.33478946e-03 9.87808419e-01 -2.10808763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:-32.75, Z:-21.09 [[ 9.32072068e-01 3.30907249e-01 1.47451863e-01 1.29033995e+02] [-3.27057157e-01 9.43662392e-01 -5.03478574e-02 -3.27460964e+01] [-1.55805249e-01 -1.29735544e-03 9.87786941e-01 -2.10853816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.06, Y:-32.75, Z:-21.09 [[ 9.32201601e-01 3.30333023e-01 1.47919808e-01 1.29058794e+02] [-3.26454492e-01 9.43863651e-01 -5.04863675e-02 -3.27546563e+01] [-1.56293444e-01 -1.22561300e-03 9.87709905e-01 -2.10898455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:-32.76, Z:-21.09 [[ 9.33122947e-01 3.27581627e-01 1.48229025e-01 1.29085466e+02] [-3.23654448e-01 9.44822560e-01 -5.05779488e-02 -3.27631898e+01] [-1.56618534e-01 -7.79538628e-04 9.87658862e-01 -2.10946905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.11, Y:-32.77, Z:-21.10 [[ 9.33807580e-01 3.25557775e-01 1.48376340e-01 1.29110847e+02] [-3.21599106e-01 9.45522042e-01 -5.06170273e-02 -3.27718330e+01] [-1.56771867e-01 -4.51134481e-04 9.87634739e-01 -2.10997351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.14, Y:-32.78, Z:-21.10 [[ 9.34551569e-01 3.23363581e-01 1.48490266e-01 1.29137123e+02] [-3.19374257e-01 9.46274793e-01 -5.06369378e-02 -3.27814581e+01] [-1.56886738e-01 -1.01138776e-04 9.87616596e-01 -2.11043011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:-32.79, Z:-21.11 [[ 9.35269776e-01 3.21299994e-01 1.48447839e-01 1.29163308e+02] [-3.17289078e-01 9.46977434e-01 -5.06100913e-02 -3.27912158e+01] [-1.56837776e-01 2.33210788e-04 9.87624351e-01 -2.11095165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:-32.80, Z:-21.11 [[ 9.36706877e-01 3.17118943e-01 1.48377229e-01 1.29189252e+02] [-3.13060927e-01 9.48385322e-01 -5.05780267e-02 -3.28031230e+01] [-1.56758037e-01 9.25672498e-04 9.87636604e-01 -2.11146764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.22, Y:-32.81, Z:-21.12 [[ 9.37189182e-01 3.15699463e-01 1.48358638e-01 1.29216725e+02] [-3.11626127e-01 9.48858533e-01 -5.05632424e-02 -3.28142611e+01] [-1.56734148e-01 1.15489589e-03 9.87640154e-01 -2.11194756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.24, Y:-32.82, Z:-21.12 [[ 9.37504915e-01 3.14801457e-01 1.48271967e-01 1.29242552e+02] [-3.10722389e-01 9.49156653e-01 -5.05296466e-02 -3.28247612e+01] [-1.56640130e-01 1.30037213e-03 9.87654888e-01 -2.11238649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:129.27, Y:-32.83, Z:-21.13 [[ 9.37688402e-01 3.14032154e-01 1.48742283e-01 1.29269546e+02] [-3.09917967e-01 9.49411271e-01 -5.06862122e-02 -3.28349712e+01] [-1.57134701e-01 1.42996729e-03 9.87576144e-01 -2.11280888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:-32.85, Z:-21.13 [[ 9.37738688e-01 3.13639747e-01 1.49252345e-01 1.29297330e+02] [-3.09493521e-01 9.49540879e-01 -5.08515479e-02 -3.28451877e+01] [-1.57670269e-01 1.49283008e-03 9.87490687e-01 -2.11332254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.32, Y:-32.86, Z:-21.14 [[ 9.37639989e-01 3.13543035e-01 1.50073367e-01 1.29323584e+02] [-3.09350158e-01 9.49572785e-01 -5.11273570e-02 -3.28551549e+01] [-1.58536212e-01 1.51383454e-03 9.87352003e-01 -2.11373936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:-32.86, Z:-21.14 [[ 9.37577970e-01 3.13856007e-01 1.49806400e-01 1.29349649e+02] [-3.09683007e-01 9.49469481e-01 -5.10307664e-02 -3.28649254e+01] [-1.58252918e-01 1.45282592e-03 9.87397541e-01 -2.11419560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:-32.87, Z:-21.15 [[ 9.37551089e-01 3.14064383e-01 1.49537685e-01 1.29376113e+02] [-3.09910857e-01 9.49400649e-01 -5.09280814e-02 -3.28749644e+01] [-1.57965871e-01 1.40432629e-03 9.87443574e-01 -2.11471690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:-32.89, Z:-21.15 [[ 9.37480976e-01 3.14336485e-01 1.49405469e-01 1.29402105e+02] [-3.10195037e-01 9.49310672e-01 -5.08752086e-02 -3.28856307e+01] [-1.57824140e-01 1.34970534e-03 9.87466313e-01 -2.11522197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:129.43, Y:-32.90, Z:-21.16 [[ 9.37393997e-01 3.14876510e-01 1.48812895e-01 1.29426856e+02] [-3.10776031e-01 9.49131829e-01 -5.06658556e-02 -3.28978590e+01] [-1.57196543e-01 1.24638796e-03 9.87566551e-01 -2.11570893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:-32.91, Z:-21.16 [[ 9.37208258e-01 3.15475854e-01 1.48713369e-01 1.29452494e+02] [-3.11390086e-01 9.48932926e-01 -5.06213068e-02 -3.29073235e+01] [-1.57088813e-01 1.13483801e-03 9.87583828e-01 -2.11618771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:-32.92, Z:-21.17 [[ 9.36872233e-01 3.16313384e-01 1.49051210e-01 1.29479583e+02] [-3.12221178e-01 9.48654242e-01 -5.07253894e-02 -3.29170747e+01] [-1.57443182e-01 9.86264571e-04 9.87527555e-01 -2.11669170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:-32.93, Z:-21.17 [[ 9.36476655e-01 3.17395366e-01 1.49236912e-01 1.29506138e+02] [-3.13307777e-01 9.48292964e-01 -5.07808241e-02 -3.29267647e+01] [-1.57637912e-01 7.97971027e-04 9.87496659e-01 -2.11715910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:-32.94, Z:-21.18 [[ 9.35283655e-01 3.20701894e-01 1.49648857e-01 1.29531774e+02] [-3.16634790e-01 9.47180152e-01 -5.09133513e-02 -3.29369794e+01] [-1.58072435e-01 2.34390975e-04 9.87427491e-01 -2.11759097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:-32.95, Z:-21.18 [[ 9.34567984e-01 3.22708619e-01 1.49805977e-01 1.29560007e+02] [-3.18660183e-01 9.46498354e-01 -5.09563942e-02 -3.29461427e+01] [-1.58235178e-01 -1.14985474e-04 9.87401446e-01 -2.11809061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:129.59, Y:-32.95, Z:-21.19 [[ 9.33895187e-01 3.24735036e-01 1.49622644e-01 1.29586732e+02] [-3.20722312e-01 9.45804920e-01 -5.08945130e-02 -3.29549346e+01] [-1.58041064e-01 -4.57179516e-04 9.87432435e-01 -2.11859233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:-32.96, Z:-21.19 [[ 9.32731629e-01 3.28512585e-01 1.48631049e-01 1.29611228e+02] [-3.24601670e-01 9.44498959e-01 -5.05516848e-02 -3.29646900e+01] [-1.56988736e-01 -1.09473155e-03 9.87599787e-01 -2.11912059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:-32.97, Z:-21.20 [[ 9.32298942e-01 3.29890088e-01 1.48294342e-01 1.29637383e+02] [-3.26016408e-01 9.44018402e-01 -5.04237840e-02 -3.29734553e+01] [-1.56626894e-01 -1.33634809e-03 9.87656940e-01 -2.11959676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:129.66, Y:-32.98, Z:-21.20 [[ 9.31901091e-01 3.31090081e-01 1.48120610e-01 1.29664495e+02] [-3.27242402e-01 9.43597883e-01 -5.03532046e-02 -3.29818861e+01] [-1.56437740e-01 -1.54713790e-03 9.87686610e-01 -2.12004495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:-32.99, Z:-21.21 [[ 9.31606257e-01 3.31959154e-01 1.48030072e-01 1.29690629e+02] [-3.28128343e-01 9.43292230e-01 -5.03145954e-02 -3.29894620e+01] [-1.56338007e-01 -1.69947030e-03 9.87702151e-01 -2.12057222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:-33.00, Z:-21.21 [[ 9.31473603e-01 3.32364837e-01 1.47954526e-01 1.29715309e+02] [-3.28544809e-01 9.43149223e-01 -5.02777531e-02 -3.29979980e+01] [-1.56253753e-01 -1.77729146e-03 9.87715347e-01 -2.12108013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:-33.01, Z:-21.22 [[ 9.31487252e-01 3.32232047e-01 1.48166685e-01 1.29741700e+02] [-3.28401417e-01 9.43196021e-01 -5.03366217e-02 -3.30065044e+01] [-1.56473667e-01 -1.77022809e-03 9.87680544e-01 -2.12150705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:-33.01, Z:-21.22 [[ 9.31487218e-01 3.32059327e-01 1.48553582e-01 1.29769082e+02] [-3.28208180e-01 9.43256867e-01 -5.04566476e-02 -3.30144874e+01] [-1.56878787e-01 -1.75677863e-03 9.87616302e-01 -2.12195297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:-33.02, Z:-21.22 [[ 9.31434240e-01 3.32051590e-01 1.48902647e-01 1.29794938e+02] [-3.28183404e-01 9.43259571e-01 -5.05671349e-02 -3.30223588e+01] [-1.57244744e-01 -1.76741658e-03 9.87558083e-01 -2.12245972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.82, Y:-33.03, Z:-21.23 [[ 9.31562385e-01 3.31786457e-01 1.48691859e-01 1.29821862e+02] [-3.27927565e-01 9.43352932e-01 -5.04852305e-02 -3.30311779e+01] [-1.57019217e-01 -1.73001738e-03 9.87594032e-01 -2.12295098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:-33.04, Z:-21.23 [[ 9.31527707e-01 3.31925170e-01 1.48599506e-01 1.29847769e+02] [-3.28074135e-01 9.43304078e-01 -5.04457961e-02 -3.30390452e+01] [-1.56918749e-01 -1.75999762e-03 9.87609948e-01 -2.12343945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:-33.05, Z:-21.24 [[ 9.31438082e-01 3.32186062e-01 1.48578329e-01 1.29875028e+02] [-3.28341079e-01 9.43212135e-01 -5.04282115e-02 -3.30467495e+01] [-1.56892432e-01 -1.81361232e-03 9.87614032e-01 -2.12387675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:-33.05, Z:-21.24 [[ 9.31410502e-01 3.32319521e-01 1.48452728e-01 1.29901332e+02] [-3.28484040e-01 9.43165066e-01 -5.03775046e-02 -3.30539178e+01] [-1.56756855e-01 -1.84221489e-03 9.87635507e-01 -2.12436940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:-33.06, Z:-21.25 [[ 9.31303193e-01 3.32864373e-01 1.47904267e-01 1.29928719e+02] [-3.29065778e-01 9.42972725e-01 -5.01812110e-02 -3.30597917e+01] [-1.56173227e-01 -1.93631068e-03 9.87727783e-01 -2.12487955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75587156000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.96, Y:-33.07, Z:-21.25 [[ 9.31322823e-01 3.32843162e-01 1.47828373e-01 1.29955113e+02] [-3.29049790e-01 9.42980202e-01 -5.01455328e-02 -3.30671414e+01] [-1.56089827e-01 -1.94121592e-03 9.87740957e-01 -2.12529961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:-33.07, Z:-21.26 [[ 9.31215293e-01 3.33102450e-01 1.47921724e-01 1.29981908e+02] [-3.29309504e-01 9.42888522e-01 -5.01645805e-02 -3.30746250e+01] [-1.56183640e-01 -1.99800491e-03 9.87726014e-01 -2.12580630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:-33.08, Z:-21.26 [[ 9.31315320e-01 3.32815058e-01 1.47938883e-01 1.30007591e+02] [-3.29019142e-01 9.42990084e-01 -5.01607934e-02 -3.30818835e+01] [-1.56199167e-01 -1.95920905e-03 9.87723636e-01 -2.12626992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:-33.09, Z:-21.27 [[ 9.31566830e-01 3.32077104e-01 1.48013640e-01 1.30034515e+02] [-3.28270927e-01 9.43250423e-01 -5.01680912e-02 -3.30875446e+01] [-1.56273603e-01 -1.85364527e-03 9.87712066e-01 -2.12672851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:-33.09, Z:-21.27 [[ 9.31798407e-01 3.31453223e-01 1.47954347e-01 1.30060452e+02] [-3.27644150e-01 9.43470013e-01 -5.01362760e-02 -3.30940810e+01] [-1.56208320e-01 -1.75947406e-03 9.87722565e-01 -2.12721583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:-33.10, Z:-21.28 [[ 9.32171425e-01 3.30425692e-01 1.47903000e-01 1.30087552e+02] [-3.26608623e-01 9.43830653e-01 -5.01049372e-02 -3.31008705e+01] [-1.56151343e-01 -1.60000452e-03 9.87731845e-01 -2.12766923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:-33.11, Z:-21.28 [[ 9.32451652e-01 3.29484361e-01 1.48236202e-01 1.30113385e+02] [-3.25640007e-01 9.44159909e-01 -5.02061020e-02 -3.31077416e+01] [-1.56500805e-01 -1.45687518e-03 9.87676757e-01 -2.12814660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:-33.11, Z:-21.29 [[ 9.33158778e-01 3.27231407e-01 1.48776012e-01 1.30140204e+02] [-3.23332592e-01 9.44943598e-01 -5.03749033e-02 -3.31132163e+01] [-1.57069191e-01 -1.09635040e-03 9.87586992e-01 -2.12858195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:-33.12, Z:-21.29 [[ 9.33714963e-01 3.25513567e-01 1.49054636e-01 1.30165301e+02] [-3.21580187e-01 9.45537014e-01 -5.04572954e-02 -3.31207145e+01] [-1.57361210e-01 -8.20286118e-04 9.87540772e-01 -2.12910222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:-33.13, Z:-21.30 [[ 9.34346740e-01 3.23564688e-01 1.49338748e-01 1.30191095e+02] [-3.19593696e-01 9.46205917e-01 -5.05394211e-02 -3.31277711e+01] [-1.57657979e-01 -5.06378956e-04 9.87493648e-01 -2.12951936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.22, Y:-33.14, Z:-21.30 [[ 9.34912067e-01 3.21619793e-01 1.50000450e-01 1.30217535e+02] [-3.17590681e-01 9.46868878e-01 -5.07492660e-02 -3.31351384e+01] [-1.58352726e-01 -1.92643914e-04 9.87382589e-01 -2.12996762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.24, Y:-33.14, Z:-21.30 [[ 9.34930766e-01 3.21563746e-01 1.50004066e-01 1.30244168e+02] [-3.17535632e-01 9.46887913e-01 -5.07385761e-02 -3.31440174e+01] [-1.58352724e-01 -1.94580022e-04 9.87382589e-01 -2.13045273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:-33.15, Z:-21.31 [[ 9.36270377e-01 3.17354521e-01 1.50611718e-01 1.30271316e+02] [-3.13240873e-01 9.48306832e-01 -5.09343484e-02 -3.31496437e+01] [-1.58990367e-01 5.10575571e-04 9.87280002e-01 -2.13090346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:-33.16, Z:-21.31 [[ 9.36928577e-01 3.15218995e-01 1.51002738e-01 1.30298211e+02] [-3.11058248e-01 9.49018566e-01 -5.10541561e-02 -3.31573965e+01] [-1.59397642e-01 8.63450502e-04 9.87214083e-01 -2.13139875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:-33.17, Z:-21.32 [[ 9.37493466e-01 3.13516839e-01 1.51040367e-01 1.30324786e+02] [-3.09333327e-01 9.49581950e-01 -5.10589225e-02 -3.31654323e+01] [-1.59433039e-01 1.14558684e-03 9.87208080e-01 -2.13186889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:-33.17, Z:-21.32 [[ 9.38589277e-01 3.10428090e-01 1.50613974e-01 1.30351896e+02] [-3.06230407e-01 9.50595423e-01 -5.09046094e-02 -3.31740233e+01] [-1.58975175e-01 1.65594219e-03 9.87281192e-01 -2.13237865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23587156000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:130.38, Y:-33.18, Z:-21.33 [[ 9.38996381e-01 3.09316508e-01 1.50363206e-01 1.30378314e+02] [-3.05120009e-01 9.50957379e-01 -5.08118466e-02 -3.31826527e+01] [-1.58705944e-01 1.83331719e-03 9.87324193e-01 -2.13280002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:-33.19, Z:-21.33 [[ 9.39271280e-01 3.08669076e-01 1.49976213e-01 1.30405381e+02] [-3.04487742e-01 9.51167538e-01 -5.06707952e-02 -3.31908117e+01] [-1.58293013e-01 1.92770423e-03 9.87390301e-01 -2.13336845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:-33.20, Z:-21.34 [[ 9.39596321e-01 3.08077311e-01 1.49154698e-01 1.30431533e+02] [-3.03935798e-01 9.51359205e-01 -5.03854616e-02 -3.31983973e+01] [-1.57422312e-01 2.00854231e-03 9.87529332e-01 -2.13380299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:-33.21, Z:-21.34 [[ 9.39759051e-01 3.07697345e-01 1.48913636e-01 1.30459191e+02] [-3.03566156e-01 9.51482057e-01 -5.02939790e-02 -3.32055899e+01] [-1.57163976e-01 2.05908192e-03 9.87570375e-01 -2.13431717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:-33.21, Z:-21.35 [[ 9.39664305e-01 3.07756392e-01 1.49388744e-01 1.30486824e+02] [-3.03600633e-01 9.51462983e-01 -5.04464844e-02 -3.32143284e+01] [-1.57663088e-01 2.04824330e-03 9.87490838e-01 -2.13476187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:-33.22, Z:-21.35 [[ 9.39574675e-01 3.07841953e-01 1.49775708e-01 1.30513182e+02] [-3.03666836e-01 9.51435339e-01 -5.05692425e-02 -3.32226774e+01] [-1.58069236e-01 2.03166424e-03 9.87425941e-01 -2.13525409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:-33.23, Z:-21.36 [[ 9.39442141e-01 3.08392194e-01 1.49474810e-01 1.30539994e+02] [-3.04242490e-01 9.51257351e-01 -5.04575016e-02 -3.32311500e+01] [-1.57749711e-01 1.92531503e-03 9.87477251e-01 -2.13573795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.57, Y:-33.24, Z:-21.36 [[ 9.39165476e-01 3.09097074e-01 1.49757164e-01 1.30566886e+02] [-3.04941751e-01 9.51028785e-01 -5.05448244e-02 -3.32394433e+01] [-1.58046631e-01 1.80274226e-03 9.87430004e-01 -2.13617076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:-33.25, Z:-21.37 [[ 9.38786014e-01 3.09976673e-01 1.50317269e-01 1.30592769e+02] [-3.05802472e-01 9.50742725e-01 -5.07259253e-02 -3.32469698e+01] [-1.58636904e-01 1.65339663e-03 9.87335606e-01 -2.13668864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:-33.25, Z:-21.37 [[ 9.38638966e-01 3.10409920e-01 1.50341518e-01 1.30618546e+02] [-3.06241447e-01 9.50601501e-01 -5.07243830e-02 -3.32546106e+01] [-1.58660225e-01 1.57107834e-03 9.87331993e-01 -2.13714953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:-33.26, Z:-21.38 [[ 9.38508455e-01 3.10730919e-01 1.50493111e-01 1.30643839e+02] [-3.06560271e-01 9.50496728e-01 -5.07618950e-02 -3.32624902e+01] [-1.58816500e-01 1.50525875e-03 9.87306970e-01 -2.13763734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:-33.27, Z:-21.38 [[ 9.38504917e-01 3.10622924e-01 1.50737918e-01 1.30670472e+02] [-3.06439398e-01 9.50532014e-01 -5.08309540e-02 -3.32713453e+01] [-1.59070477e-01 1.51306332e-03 9.87266071e-01 -2.13811523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59587156000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:130.70, Y:-33.28, Z:-21.39 [[ 9.38765667e-01 3.09813670e-01 1.50779683e-01 1.30697896e+02] [-3.05619415e-01 9.50795879e-01 -5.08327589e-02 -3.32800326e+01] [-1.59109385e-01 1.63885026e-03 9.87259600e-01 -2.13852957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:-33.29, Z:-21.39 [[ 9.38976141e-01 3.09273777e-01 1.50577345e-01 1.30723830e+02] [-3.05085233e-01 9.50971488e-01 -5.07565677e-02 -3.32884615e+01] [-1.58892437e-01 1.72028180e-03 9.87294401e-01 -2.13909733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:-33.30, Z:-21.40 [[ 9.39311524e-01 3.08398356e-01 1.50280785e-01 1.30749706e+02] [-3.04216874e-01 9.51255493e-01 -5.06466290e-02 -3.32972023e+01] [-1.58574760e-01 1.85501168e-03 9.87345231e-01 -2.13955610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:-33.31, Z:-21.40 [[ 9.39623258e-01 3.07277182e-01 1.50628238e-01 1.30774551e+02] [-3.03063735e-01 9.51617875e-01 -5.07522682e-02 -3.33059944e+01] [-1.58935537e-01 2.03805535e-03 9.87286859e-01 -2.14009997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:-33.32, Z:-21.41 [[ 9.40261916e-01 3.05737874e-01 1.49772769e-01 1.30800452e+02] [-3.01555800e-01 9.52113022e-01 -5.04469375e-02 -3.33152876e+01] [-1.58024143e-01 2.26848699e-03 9.87432643e-01 -2.14056552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:130.83, Y:-33.32, Z:-21.41 [[ 9.40549636e-01 3.05079885e-01 1.49307218e-01 1.30826453e+02] [-3.00917215e-01 9.52323833e-01 -5.02806792e-02 -3.33237636e+01] [-1.57528446e-01 2.36236239e-03 9.87511624e-01 -2.14099774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:-33.33, Z:-21.42 [[ 9.40799363e-01 3.04494589e-01 1.48928184e-01 1.30853098e+02] [-3.00347735e-01 9.52510933e-01 -5.01413994e-02 -3.33331055e+01] [-1.57123509e-01 2.44275371e-03 9.87575939e-01 -2.14154909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:130.88, Y:-33.34, Z:-21.42 [[ 9.41042376e-01 3.03588012e-01 1.49243311e-01 1.30879470e+02] [-2.99413390e-01 9.52799874e-01 -5.02396494e-02 -3.33447870e+01] [-1.57451163e-01 2.59219344e-03 9.87523373e-01 -2.14199732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.83587156000002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:130.90, Y:-33.35, Z:-21.42 [[ 9.41178920e-01 3.03404770e-01 1.48754112e-01 1.30904778e+02] [-2.99256592e-01 9.52858201e-01 -5.00673728e-02 -3.33541437e+01] [-1.56932255e-01 2.60670745e-03 9.87605930e-01 -2.14245361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:-33.36, Z:-21.43 [[ 9.41189938e-01 3.03448207e-01 1.48595716e-01 1.30931079e+02] [-2.99311016e-01 9.52844422e-01 -5.00042355e-02 -3.33642652e+01] [-1.56762294e-01 2.58714866e-03 9.87632973e-01 -2.14301857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:-33.38, Z:-21.44 [[ 9.41231076e-01 3.03344036e-01 1.48547827e-01 1.30958620e+02] [-2.99209530e-01 9.52877567e-01 -4.99799854e-02 -3.33750986e+01] [-1.56709023e-01 2.59578988e-03 9.87641405e-01 -2.14353982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.98, Y:-33.39, Z:-21.44 [[ 9.40939232e-01 3.03835837e-01 1.49389241e-01 1.30984804e+02] [-2.99660822e-01 9.52721056e-01 -5.02591470e-02 -3.33874788e+01] [-1.57596806e-01 2.52470032e-03 9.87500315e-01 -2.14395010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.01, Y:-33.40, Z:-21.44 [[ 9.40813043e-01 3.04151243e-01 1.49542101e-01 1.31012658e+02] [-2.99972577e-01 9.52620558e-01 -5.03043199e-02 -3.33974574e+01] [-1.57757002e-01 2.46843066e-03 9.87474878e-01 -2.14446275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:-33.41, Z:-21.45 [[ 9.40694558e-01 3.04607448e-01 1.49358799e-01 1.31040090e+02] [-3.00445441e-01 9.52474994e-01 -5.02386626e-02 -3.34077751e+01] [-1.57563592e-01 2.38506625e-03 9.87505962e-01 -2.14502813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.07, Y:-33.42, Z:-21.45 [[ 9.40354927e-01 3.05438792e-01 1.49799051e-01 1.31065974e+02] [-3.01263141e-01 9.52209057e-01 -5.03828627e-02 -3.34205925e+01] [-1.58028894e-01 2.24884059e-03 9.87431927e-01 -2.14549630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:-33.43, Z:-21.46 [[ 9.40185470e-01 3.06022220e-01 1.49671916e-01 1.31093660e+02] [-3.01862032e-01 9.52021958e-01 -5.03339332e-02 -3.34315041e+01] [-1.57894252e-01 2.14296394e-03 9.87453702e-01 -2.14596702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:-33.44, Z:-21.46 [[ 9.39900931e-01 3.06859087e-01 1.49745586e-01 1.31120262e+02] [-3.02705943e-01 9.51752857e-01 -5.03548438e-02 -3.34418008e+01] [-1.57972631e-01 1.99968579e-03 9.87441466e-01 -2.14642237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:-33.45, Z:-21.47 [[ 9.39598561e-01 3.07580928e-01 1.50161636e-01 1.31146531e+02] [-3.03414613e-01 9.51520071e-01 -5.04888811e-02 -3.34524471e+01] [-1.58411227e-01 1.87804542e-03 9.87371438e-01 -2.14693851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:-33.46, Z:-21.47 [[ 9.39374445e-01 3.08066400e-01 1.50568073e-01 1.31173927e+02] [-3.03884865e-01 9.51363168e-01 -5.06173049e-02 -3.34639884e+01] [-1.58838410e-01 1.79324408e-03 9.87302965e-01 -2.14743746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.20, Y:-33.48, Z:-21.48 [[ 9.38870850e-01 3.09713987e-01 1.50328884e-01 1.31202323e+02] [-3.05567530e-01 9.50828572e-01 -5.05322767e-02 -3.34777303e+01] [-1.58587551e-01 1.50765584e-03 9.87343768e-01 -2.14799744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:-33.49, Z:-21.49 [[ 9.38581329e-01 3.10858984e-01 1.49772429e-01 1.31230695e+02] [-3.06757268e-01 9.50455138e-01 -5.03488779e-02 -3.34884899e+01] [-1.58003376e-01 1.31273552e-03 9.87437699e-01 -2.14851837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:-33.50, Z:-21.49 [[ 9.38330338e-01 3.11716988e-01 1.49561682e-01 1.31257638e+02] [-3.07635909e-01 9.50174265e-01 -5.02893036e-02 -3.34986883e+01] [-1.57785691e-01 1.17743527e-03 9.87472678e-01 -2.14903901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:-33.51, Z:-21.50 [[ 9.38062546e-01 3.12596654e-01 1.49405462e-01 1.31285456e+02] [-3.08536651e-01 9.49885410e-01 -5.02279123e-02 -3.35112274e+01] [-1.57619145e-01 1.01986259e-03 9.87499451e-01 -2.14960566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.31, Y:-33.53, Z:-21.50 [[ 9.37704706e-01 3.13731198e-01 1.49273640e-01 1.31312433e+02] [-3.09692316e-01 9.49511477e-01 -5.01858976e-02 -3.35260109e+01] [-1.57481916e-01 8.30653276e-04 9.87521522e-01 -2.15011223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:-33.54, Z:-21.51 [[ 9.37463992e-01 3.14102616e-01 1.50002701e-01 1.31340133e+02] [-3.10023955e-01 9.49388701e-01 -5.04602916e-02 -3.35362394e+01] [-1.58260579e-01 8.00275912e-04 9.87397057e-01 -2.15062201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.37, Y:-33.55, Z:-21.51 [[ 9.37258715e-01 3.14516273e-01 1.50418135e-01 1.31368240e+02] [-3.10420781e-01 9.49251802e-01 -5.05960030e-02 -3.35463561e+01] [-1.58697952e-01 7.28629937e-04 9.87326911e-01 -2.15103681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:-33.56, Z:-21.52 [[ 9.36975678e-01 3.15252013e-01 1.50641119e-01 1.31394700e+02] [-3.11154363e-01 9.49007801e-01 -5.06671067e-02 -3.35571183e+01] [-1.58932504e-01 6.01205244e-04 9.87289267e-01 -2.15157859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:-33.57, Z:-21.52 [[ 9.36733205e-01 3.16035709e-01 1.50506919e-01 1.31421450e+02] [-3.11956447e-01 9.48747183e-01 -5.06157857e-02 -3.35686764e+01] [-1.58789411e-01 4.61883439e-04 9.87312367e-01 -2.15209598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:-33.58, Z:-21.53 [[ 9.35940195e-01 3.18590348e-01 1.50053796e-01 1.31447100e+02] [-3.14568988e-01 9.47892499e-01 -5.04595100e-02 -3.35816617e+01] [-1.58310780e-01 2.48129919e-05 9.87389334e-01 -2.15255584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:-33.59, Z:-21.53 [[ 9.35408276e-01 3.20282753e-01 1.49767539e-01 1.31474002e+02] [-3.16299304e-01 9.47321955e-01 -5.03573605e-02 -3.35918618e+01] [-1.58006672e-01 -2.66676708e-04 9.87438008e-01 -2.15301927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:-33.60, Z:-21.54 [[ 9.34216525e-01 3.23595459e-01 1.50084855e-01 1.31500192e+02] [-3.19638692e-01 9.46195160e-01 -5.04561825e-02 -3.36028289e+01] [-1.58336955e-01 -8.35927243e-04 9.87384783e-01 -2.15354414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:-33.61, Z:-21.54 [[ 9.33644575e-01 3.25054285e-01 1.50490929e-01 1.31525564e+02] [-3.21096021e-01 9.45694727e-01 -5.05848715e-02 -3.36122211e+01] [-1.58761307e-01 -1.09374770e-03 9.87316389e-01 -2.15396868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:-33.62, Z:-21.54 [[ 9.33182020e-01 3.26173041e-01 1.50938615e-01 1.31552499e+02] [-3.22207392e-01 9.45309188e-01 -5.07241106e-02 -3.36220786e+01] [-1.59228497e-01 -1.29870956e-03 9.87240902e-01 -2.15445798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:-33.63, Z:-21.55 [[ 9.32823599e-01 3.27282325e-01 1.50752823e-01 1.31578677e+02] [-3.23342153e-01 9.44925420e-01 -5.06537611e-02 -3.36320115e+01] [-1.59028255e-01 -1.49371872e-03 9.87272902e-01 -2.15493643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:-33.64, Z:-21.56 [[ 9.32218142e-01 3.29207743e-01 1.50305016e-01 1.31604988e+02] [-3.25317193e-01 9.44255757e-01 -5.04954342e-02 -3.36425301e+01] [-1.58549865e-01 -1.82404610e-03 9.87349286e-01 -2.15551856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:-33.65, Z:-21.56 [[ 9.31877162e-01 3.30215061e-01 1.50209749e-01 1.31632904e+02] [-3.26343790e-01 9.43903600e-01 -5.04551844e-02 -3.36526512e+01] [-1.58444585e-01 -2.00198480e-03 9.87365842e-01 -2.15600413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:-33.66, Z:-21.56 [[ 9.31514705e-01 3.31072192e-01 1.50570777e-01 1.31659341e+02] [-3.27193972e-01 9.43602963e-01 -5.05722616e-02 -3.36619465e+01] [-1.58822100e-01 -2.15704514e-03 9.87304861e-01 -2.15649733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:-33.67, Z:-21.57 [[ 9.31200732e-01 3.31944724e-01 1.50591823e-01 1.31685278e+02] [-3.28077402e-01 9.43296011e-01 -5.05752358e-02 -3.36707777e+01] [-1.58840848e-01 -2.31007729e-03 9.87301498e-01 -2.15699980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:-33.68, Z:-21.57 [[ 9.30733394e-01 3.33525402e-01 1.49987183e-01 1.31713287e+02] [-3.29711259e-01 9.42737586e-01 -5.03619925e-02 -3.36803823e+01] [-1.58195559e-01 -2.57887480e-03 9.87404433e-01 -2.15744524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:-33.69, Z:-21.58 [[ 9.30561307e-01 3.34010517e-01 1.49975428e-01 1.31739140e+02] [-3.30203824e-01 9.42565581e-01 -5.03543439e-02 -3.36887135e+01] [-1.58180557e-01 -2.66465593e-03 9.87406609e-01 -2.15790466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:-33.70, Z:-21.58 [[ 9.30301826e-01 3.34575291e-01 1.50325937e-01 1.31764795e+02] [-3.30759660e-01 9.42364931e-01 -5.04617179e-02 -3.36974596e+01] [-1.58545135e-01 -2.77712736e-03 9.87347825e-01 -2.15833610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:-33.71, Z:-21.59 [[ 9.29654972e-01 3.36259575e-01 1.50569357e-01 1.31791781e+02] [-3.32455299e-01 9.41764307e-01 -5.05318251e-02 -3.37061929e+01] [-1.58792656e-01 -3.08041822e-03 9.87307147e-01 -2.15875899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:-33.71, Z:-21.59 [[ 9.29216275e-01 3.37331895e-01 1.50878453e-01 1.31817677e+02] [-3.33527237e-01 9.41380075e-01 -5.06274293e-02 -3.37143163e+01] [-1.59112216e-01 -3.27824232e-03 9.87255061e-01 -2.15923339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:-33.72, Z:-21.60 [[ 9.28793682e-01 3.38553520e-01 1.50744190e-01 1.31845284e+02] [-3.34773312e-01 9.40940649e-01 -5.05719796e-02 -3.37226595e+01] [-1.58962657e-01 -3.49419658e-03 9.87278413e-01 -2.15975069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:-33.73, Z:-21.60 [[ 9.28209927e-01 3.40490037e-01 1.49976220e-01 1.31871539e+02] [-3.36774819e-01 9.40240391e-01 -5.03063435e-02 -3.37287751e+01] [-1.58142508e-01 -3.81336702e-03 9.87408935e-01 -2.16029030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:-33.74, Z:-21.61 [[ 9.27915061e-01 3.41280306e-01 1.50004639e-01 1.31898741e+02] [-3.37575622e-01 9.39953233e-01 -5.03052631e-02 -3.37365075e+01] [-1.58165541e-01 -3.95889793e-03 9.87404673e-01 -2.16081149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:-33.74, Z:-21.61 [[ 9.27721753e-01 3.41884636e-01 1.49824045e-01 1.31924264e+02] [-3.38197925e-01 9.39733143e-01 -5.02372752e-02 -3.37435394e+01] [-1.57969973e-01 -4.06396802e-03 9.87435553e-01 -2.16124167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:-33.75, Z:-21.62 [[ 9.27742285e-01 3.41826552e-01 1.49829442e-01 1.31950923e+02] [-3.38141687e-01 9.39754241e-01 -5.02211743e-02 -3.37523500e+01] [-1.57969784e-01 -4.07127309e-03 9.87435553e-01 -2.16172681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:-33.76, Z:-21.62 [[ 9.27689760e-01 3.41991202e-01 1.49778926e-01 1.31976963e+02] [-3.38312528e-01 9.39694178e-01 -5.01944681e-02 -3.37588802e+01] [-1.57912452e-01 -4.10719319e-03 9.87444575e-01 -2.16220269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:-33.76, Z:-21.63 [[ 9.27638972e-01 3.41981945e-01 1.50114248e-01 1.32004407e+02] [-3.38288861e-01 9.39697453e-01 -5.02925760e-02 -3.37637041e+01] [-1.58261130e-01 -4.12862453e-03 9.87388662e-01 -2.16267179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:-33.77, Z:-21.63 [[ 9.27730718e-01 3.41740108e-01 1.50098010e-01 1.32030821e+02] [-3.38046590e-01 9.39785562e-01 -5.02752469e-02 -3.37702313e+01] [-1.58241011e-01 -4.09822954e-03 9.87392013e-01 -2.16310069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:-33.78, Z:-21.64 [[ 9.27847415e-01 3.41334221e-01 1.50300110e-01 1.32057491e+02] [-3.37627680e-01 9.39933276e-01 -5.03287877e-02 -3.37763364e+01] [-1.58451012e-01 -4.04804189e-03 9.87358542e-01 -2.16361296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:-33.78, Z:-21.64 [[ 9.28022276e-01 3.40927491e-01 1.50143604e-01 1.32084021e+02] [-3.37225314e-01 9.40081146e-01 -5.02645627e-02 -3.37820132e+01] [-1.58283743e-01 -3.98559019e-03 9.87385625e-01 -2.16402395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:-33.79, Z:-21.65 [[ 9.28578286e-01 3.39633171e-01 1.49638482e-01 1.32112175e+02] [-3.35941557e-01 9.40550441e-01 -5.00813233e-02 -3.37860392e+01] [-1.57751819e-01 -3.76535519e-03 9.87471613e-01 -2.16451324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:-33.79, Z:-21.65 [[ 9.28910251e-01 3.38800362e-01 1.49465918e-01 1.32139449e+02] [-3.35108140e-01 9.40851288e-01 -5.00138812e-02 -3.37922617e+01] [-1.57569923e-01 -3.62883889e-03 9.87501165e-01 -2.16499183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:-33.80, Z:-21.65 [[ 9.29299245e-01 3.37891628e-01 1.49104532e-01 1.32166834e+02] [-3.34207598e-01 9.41178599e-01 -4.98811207e-02 -3.37982613e+01] [-1.57188407e-01 -3.47737959e-03 9.87562511e-01 -2.16546234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:-33.80, Z:-21.66 [[ 9.30457633e-01 3.34802869e-01 1.48847678e-01 1.32194519e+02] [-3.31094176e-01 9.42283540e-01 -4.97833070e-02 -3.38018827e+01] [-1.56924311e-01 -2.96134127e-03 9.87606192e-01 -2.16597280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:-33.81, Z:-21.66 [[ 9.31323245e-01 3.32385428e-01 1.48852079e-01 1.32220580e+02] [-3.28647691e-01 9.43140152e-01 -4.97729639e-02 -3.38088227e+01] [-1.56932180e-01 -2.56517375e-03 9.87606050e-01 -2.16647378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:-33.82, Z:-21.67 [[ 9.32226475e-01 3.29886120e-01 1.48758015e-01 1.32247205e+02] [-3.26123712e-01 9.44018273e-01 -4.97275129e-02 -3.38162480e+01] [-1.56834701e-01 -2.15621201e-03 9.87622513e-01 -2.16693779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:-33.82, Z:-21.67 [[ 9.33150656e-01 3.27200954e-01 1.48893888e-01 1.32273817e+02] [-3.23399574e-01 9.44953218e-01 -4.97607366e-02 -3.38231117e+01] [-1.56979519e-01 -1.71795603e-03 9.87600364e-01 -2.16738340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:-33.83, Z:-21.68 [[ 9.34023800e-01 3.24589520e-01 1.49134789e-01 1.32300261e+02] [-3.20744670e-01 9.45854096e-01 -4.98285597e-02 -3.38291704e+01] [-1.57233579e-01 -1.29312788e-03 9.87560595e-01 -2.16781145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:-33.83, Z:-21.68 [[ 9.35459157e-01 3.20180606e-01 1.49668115e-01 1.32326930e+02] [-3.16253497e-01 9.47356354e-01 -4.99966340e-02 -3.38333370e+01] [-1.57796992e-01 -5.63255608e-04 9.87471413e-01 -2.16825260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:-33.84, Z:-21.69 [[ 9.36134304e-01 3.18095314e-01 1.49893085e-01 1.32353496e+02] [-3.14132055e-01 9.48058712e-01 -5.00572854e-02 -3.38399608e+01] [-1.58030433e-01 -2.25880760e-04 9.87434216e-01 -2.16872679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:132.38, Y:-33.85, Z:-21.69 [[ 9.36778764e-01 3.16188472e-01 1.49901293e-01 1.32380713e+02] [-3.12202383e-01 9.48696391e-01 -5.00482697e-02 -3.38470746e+01] [-1.58035502e-01 8.46152943e-05 9.87433427e-01 -2.16915282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:-33.85, Z:-21.70 [[ 9.37446975e-01 3.14247390e-01 1.49805700e-01 1.32407189e+02] [-3.10243653e-01 9.49341044e-01 -5.00045782e-02 -3.38542402e+01] [-1.57930508e-01 4.00373064e-04 9.87450148e-01 -2.16963390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.43, Y:-33.86, Z:-21.70 [[ 9.38028085e-01 3.12427918e-01 1.49973693e-01 1.32433888e+02] [-3.08394006e-01 9.49941215e-01 -5.00482287e-02 -3.38620405e+01] [-1.58102656e-01 6.95656204e-04 9.87422436e-01 -2.17013682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:-33.87, Z:-21.71 [[ 9.39346039e-01 3.08800286e-01 1.49236063e-01 1.32461233e+02] [-3.04762280e-01 9.51126027e-01 -4.97919123e-02 -3.38688236e+01] [-1.57318061e-01 1.29031274e-03 9.87547145e-01 -2.17061703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.49, Y:-33.88, Z:-21.71 [[ 9.39863830e-01 3.07122994e-01 1.49437102e-01 1.32488777e+02] [-3.03054252e-01 9.51668543e-01 -4.98508261e-02 -3.38769571e+01] [-1.57524925e-01 1.56543913e-03 9.87513771e-01 -2.17114458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.52, Y:-33.89, Z:-21.72 [[ 9.40459528e-01 3.05397521e-01 1.49225433e-01 1.32515519e+02] [-3.01320044e-01 9.52223163e-01 -4.97722630e-02 -3.38850383e+01] [-1.57296240e-01 1.84418487e-03 9.87549741e-01 -2.17161593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:-33.89, Z:-21.72 [[ 9.41719176e-01 3.01993143e-01 1.48206393e-01 1.32543155e+02] [-2.97931191e-01 9.53307110e-01 -4.94222584e-02 -3.38928002e+01] [-1.56211391e-01 2.38658139e-03 9.87720763e-01 -2.17210795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:-33.90, Z:-21.73 [[ 9.42219371e-01 3.00342720e-01 1.48380952e-01 1.32568848e+02] [-2.96252026e-01 9.53827656e-01 -4.94726275e-02 -3.39013025e+01] [-1.56388600e-01 2.65591026e-03 9.87692033e-01 -2.17258911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:-33.91, Z:-21.73 [[ 9.42613221e-01 2.98812942e-01 1.48966916e-01 1.32595417e+02] [-2.94672278e-01 9.54307261e-01 -4.96578339e-02 -3.39106417e+01] [-1.56998613e-01 2.91171010e-03 9.87594531e-01 -2.17304312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:-33.92, Z:-21.74 [[ 9.43001783e-01 2.97589363e-01 1.48957070e-01 1.32621891e+02] [-2.93435321e-01 9.54688909e-01 -4.96467441e-02 -3.39200282e+01] [-1.56982005e-01 3.10770255e-03 9.87596574e-01 -2.17350043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.65, Y:-33.93, Z:-21.74 [[ 9.43580179e-01 2.95853065e-01 1.48752851e-01 1.32648560e+02] [-2.91690259e-01 9.55227465e-01 -4.95709919e-02 -3.39284716e+01] [-1.56758539e-01 3.38444774e-03 9.87631159e-01 -2.17393132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.68, Y:-33.94, Z:-21.74 [[ 9.43722037e-01 2.95320576e-01 1.48910961e-01 1.32675229e+02] [-2.91143858e-01 9.55391929e-01 -4.96136749e-02 -3.39372892e+01] [-1.56920269e-01 3.46700675e-03 9.87605189e-01 -2.17441090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:-33.95, Z:-21.75 [[ 9.43848154e-01 2.94692045e-01 1.49356152e-01 1.32702182e+02] [-2.90483606e-01 9.55585590e-01 -4.97539353e-02 -3.39469673e+01] [-1.57384676e-01 3.57464642e-03 9.87530904e-01 -2.17494986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:-33.96, Z:-21.75 [[ 9.44050279e-01 2.94113699e-01 1.49218641e-01 1.32729064e+02] [-2.89906842e-01 9.55763424e-01 -4.97021066e-02 -3.39575652e+01] [-1.57235790e-01 3.66178265e-03 9.87554301e-01 -2.17543604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:-33.97, Z:-21.76 [[ 9.44160775e-01 2.93695656e-01 1.49342872e-01 1.32756814e+02] [-2.89477168e-01 9.55891700e-01 -4.97395850e-02 -3.39676774e+01] [-1.57363912e-01 3.73081340e-03 9.87533635e-01 -2.17595273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:132.78, Y:-33.98, Z:-21.76 [[ 9.44092412e-01 2.93774746e-01 1.49619237e-01 1.32783359e+02] [-2.89542112e-01 9.55867435e-01 -4.98278350e-02 -3.39768704e+01] [-1.57654315e-01 3.72101129e-03 9.87487352e-01 -2.17640534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:-33.99, Z:-21.77 [[ 9.44040382e-01 2.93965306e-01 1.49573245e-01 1.32809453e+02] [-2.89738608e-01 9.55808997e-01 -4.98066255e-02 -3.39872496e+01] [-1.57604873e-01 3.68232197e-03 9.87495390e-01 -2.17687875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:-34.00, Z:-21.77 [[ 9.43880723e-01 2.94595284e-01 1.49341215e-01 1.32835794e+02] [-2.90390565e-01 9.55615458e-01 -4.97233899e-02 -3.39996705e+01] [-1.57361050e-01 3.56566945e-03 9.87534701e-01 -2.17737353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:-34.01, Z:-21.78 [[ 9.43791519e-01 2.94984484e-01 1.49136588e-01 1.32863586e+02] [-2.90796852e-01 9.55495663e-01 -4.96510772e-02 -3.40098898e+01] [-1.57145661e-01 3.49181515e-03 9.87569263e-01 -2.17789317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:-34.02, Z:-21.78 [[ 9.43751118e-01 2.95260505e-01 1.48845766e-01 1.32891843e+02] [-2.91092712e-01 9.55410596e-01 -4.95542722e-02 -3.40208485e+01] [-1.56840241e-01 3.43898217e-03 9.87617999e-01 -2.17845506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.92, Y:-34.03, Z:-21.79 [[ 9.43803470e-01 2.95328278e-01 1.48378628e-01 1.32918759e+02] [-2.91187683e-01 9.55389730e-01 -4.93983421e-02 -3.40321649e+01] [-1.56348145e-01 3.41629782e-03 9.87696100e-01 -2.17895909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.95, Y:-34.05, Z:-21.79 [[ 9.43413246e-01 2.96412354e-01 1.48698232e-01 1.32947901e+02] [-2.92267210e-01 9.55054552e-01 -4.95043590e-02 -3.40468737e+01] [-1.56688627e-01 3.24345061e-03 9.87642726e-01 -2.17949167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:-34.06, Z:-21.80 [[ 9.42968402e-01 2.97637255e-01 1.49072659e-01 1.32976947e+02] [-2.93480873e-01 9.54674067e-01 -4.96628933e-02 -3.40586763e+01] [-1.57097329e-01 3.08056508e-03 9.87578321e-01 -2.18002202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:-34.07, Z:-21.80 [[ 9.42539055e-01 2.98952623e-01 1.49155817e-01 1.33005294e+02] [-2.94804396e-01 9.54263595e-01 -4.97127661e-02 -3.40698762e+01] [-1.57195728e-01 2.88443295e-03 9.87563255e-01 -2.18048787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:-34.08, Z:-21.81 [[ 9.41864895e-01 3.00896879e-01 1.49504475e-01 1.33034854e+02] [-2.96753781e-01 9.53653236e-01 -4.98266885e-02 -3.40820281e+01] [-1.57568122e-01 2.56399037e-03 9.87504791e-01 -2.18103992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:-34.10, Z:-21.82 [[ 9.40427420e-01 3.05063942e-01 1.50107494e-01 1.33062899e+02] [-3.00934886e-01 9.52329968e-01 -5.00582315e-02 -3.40954187e+01] [-1.58222826e-01 1.90355210e-03 9.87401597e-01 -2.18150157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:-34.11, Z:-21.82 [[ 9.39667828e-01 3.07182291e-01 1.50543724e-01 1.33090882e+02] [-3.03055429e-01 9.51649422e-01 -5.02074237e-02 -3.41061678e+01] [-1.58687679e-01 1.55520795e-03 9.87327606e-01 -2.18198394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:-34.12, Z:-21.82 [[ 9.38587023e-01 3.10566702e-01 1.50342022e-01 1.33117317e+02] [-3.06492321e-01 9.50551071e-01 -5.01509532e-02 -3.41205354e+01] [-1.58482986e-01 9.92358698e-04 9.87361210e-01 -2.18249220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:-34.13, Z:-21.83 [[ 9.38071410e-01 3.12129032e-01 1.50324641e-01 1.33142312e+02] [-3.08076077e-01 9.50039442e-01 -5.01416923e-02 -3.41319401e+01] [-1.58465016e-01 7.25062324e-04 9.87364326e-01 -2.18293846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.17, Y:-34.14, Z:-21.83 [[ 9.37444537e-01 3.13872231e-01 1.50605324e-01 1.33168977e+02] [-3.09828182e-01 9.49465137e-01 -5.02240166e-02 -3.41432407e+01] [-1.58758428e-01 4.20456378e-04 9.87317368e-01 -2.18343437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:-34.15, Z:-21.84 [[ 9.36890922e-01 3.15512699e-01 1.50622498e-01 1.33195413e+02] [-3.11490057e-01 9.48921345e-01 -5.02217615e-02 -3.41532564e+01] [-1.58774507e-01 1.34901970e-04 9.87314863e-01 -2.18385702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:-34.16, Z:-21.84 [[ 9.35541531e-01 3.19236678e-01 1.51162119e-01 1.33220383e+02] [-3.15234491e-01 9.47674885e-01 -5.03937364e-02 -3.41649050e+01] [-1.59340073e-01 -5.06080254e-04 9.87223625e-01 -2.18433469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:-34.17, Z:-21.85 [[ 9.34860363e-01 3.21303074e-01 1.50998134e-01 1.33246829e+02] [-3.17338014e-01 9.46976020e-01 -5.03289363e-02 -3.41748321e+01] [-1.59162454e-01 -8.66920255e-04 9.87252025e-01 -2.18482295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:-34.18, Z:-21.85 [[ 9.34055281e-01 3.23623372e-01 1.51025316e-01 1.33273002e+02] [-3.19688275e-01 9.46185130e-01 -5.03299774e-02 -3.41843860e+01] [-1.59185865e-01 -1.27004152e-03 9.87247815e-01 -2.18534709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:-34.19, Z:-21.86 [[ 9.33184196e-01 3.26278941e-01 1.50696080e-01 1.33299183e+02] [-3.22396726e-01 9.45271956e-01 -5.02123456e-02 -3.41937126e+01] [-1.58832009e-01 -1.72655549e-03 9.87304113e-01 -2.18580451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:-34.20, Z:-21.86 [[ 9.31496365e-01 3.31557127e-01 1.49614150e-01 1.33325603e+02] [-3.27799885e-01 9.43431518e-01 -4.98418240e-02 -3.42025707e+01] [-1.57676117e-01 -2.61602329e-03 9.87487417e-01 -2.18634624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:-34.21, Z:-21.87 [[ 9.30530506e-01 3.34361797e-01 1.49382617e-01 1.33351863e+02] [-3.30653388e-01 9.42439715e-01 -4.97566054e-02 -3.42106438e+01] [-1.57420819e-01 -3.09382918e-03 9.87526766e-01 -2.18680356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.38, Y:-34.22, Z:-21.87 [[ 9.29592630e-01 3.36934279e-01 1.49441743e-01 1.33377494e+02] [-3.33257490e-01 9.41521513e-01 -4.97663185e-02 -3.42182813e+01] [-1.57470595e-01 -3.54017730e-03 9.87517331e-01 -2.18727144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:-34.23, Z:-21.88 [[ 9.28791186e-01 3.39097163e-01 1.49532764e-01 1.33404420e+02] [-3.35445926e-01 9.40743178e-01 -4.97825577e-02 -3.42255055e+01] [-1.57553051e-01 -3.92255551e-03 9.87502734e-01 -2.18772146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:-34.23, Z:-21.88 [[ 9.27492377e-01 3.42538773e-01 1.49750058e-01 1.33431636e+02] [-3.38923236e-01 9.39492797e-01 -4.98430015e-02 -3.42315255e+01] [-1.57762262e-01 -4.52477036e-03 9.87466757e-01 -2.18815969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:133.46, Y:-34.24, Z:-21.89 [[ 9.26834448e-01 3.43026378e-01 1.52678784e-01 1.33456679e+02] [-3.40076019e-01 9.39278639e-01 -4.58687163e-02 -3.42408593e+01] [-1.59142100e-01 -9.40968669e-03 9.87210844e-01 -2.18873745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.49, Y:-34.24, Z:-21.89 [[ 9.26752702e-01 3.45009786e-01 1.48652875e-01 1.33486662e+02] [-3.40717861e-01 9.38599014e-01 -5.42515403e-02 -3.42420516e+01] [-1.58242755e-01 -3.70928176e-04 9.87400169e-01 -2.18910214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:-34.25, Z:-21.90 [[ 9.26987527e-01 3.43661205e-01 1.50303362e-01 1.33512299e+02] [-3.40038494e-01 9.39081616e-01 -4.99954043e-02 -3.42495343e+01] [-1.58328605e-01 -4.76381257e-03 9.87374984e-01 -2.18965221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:-34.26, Z:-21.90 [[ 9.27455894e-01 3.42494439e-01 1.50077063e-01 1.33538707e+02] [-3.38870681e-01 9.39508710e-01 -4.99003545e-02 -3.42570872e+01] [-1.58089302e-01 -4.57633860e-03 9.87414214e-01 -2.19018533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:-34.26, Z:-21.91 [[ 9.28141571e-01 3.40857199e-01 1.49564683e-01 1.33564771e+02] [-3.37239112e-01 9.40105277e-01 -4.97176970e-02 -3.42641030e+01] [-1.57553183e-01 -4.29399964e-03 9.87501168e-01 -2.19067768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:-34.27, Z:-21.91 [[ 9.29004248e-01 3.38763191e-01 1.48965121e-01 1.33591666e+02] [-3.35149763e-01 9.40863436e-01 -4.95038401e-02 -3.42708473e+01] [-1.56925914e-01 -3.93634730e-03 9.87602533e-01 -2.19120130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:-34.28, Z:-21.92 [[ 9.30781045e-01 3.33955918e-01 1.48728246e-01 1.33617853e+02] [-3.30294885e-01 9.42583492e-01 -4.94130553e-02 -3.42758694e+01] [-1.56690572e-01 -3.13144378e-03 9.87642779e-01 -2.19170392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:-34.28, Z:-21.92 [[ 9.30819734e-01 3.33846225e-01 1.48732382e-01 1.33644538e+02] [-3.30185789e-01 9.42622366e-01 -4.94006047e-02 -3.42845656e+01] [-1.56690675e-01 -3.12626114e-03 9.87642779e-01 -2.19218909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:133.67, Y:-34.29, Z:-21.93 [[ 9.31617738e-01 3.31581271e-01 1.48802727e-01 1.33670557e+02] [-3.27891805e-01 9.43422605e-01 -4.94039672e-02 -3.42928585e+01] [-1.56765286e-01 -2.76558241e-03 9.87632015e-01 -2.19264371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:-34.30, Z:-21.93 [[ 9.32407088e-01 3.29211074e-01 1.49121061e-01 1.33695944e+02] [-3.25477501e-01 9.44253349e-01 -4.94975673e-02 -3.42999428e+01] [-1.57103209e-01 -2.38366787e-03 9.87579313e-01 -2.19307680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:-34.31, Z:-21.94 [[ 9.33059710e-01 3.27266111e-01 1.49320028e-01 1.33722816e+02] [-3.23500044e-01 9.44929943e-01 -4.95492185e-02 -3.43067656e+01] [-1.57312746e-01 -2.07265629e-03 9.87546659e-01 -2.19351901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:-34.31, Z:-21.94 [[ 9.34016582e-01 3.24524866e-01 1.49320582e-01 1.33750495e+02] [-3.20725819e-01 9.45875774e-01 -4.95375524e-02 -3.43105822e+01] [-1.57314889e-01 -1.62207055e-03 9.87547161e-01 -2.19399335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:-34.32, Z:-21.94 [[ 9.34381264e-01 3.23327877e-01 1.49635345e-01 1.33776686e+02] [-3.19499329e-01 9.46285911e-01 -4.96301707e-02 -3.43168846e+01] [-1.57644637e-01 -1.43489085e-03 9.87494866e-01 -2.19445878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:133.80, Y:-34.32, Z:-21.95 [[ 9.34583762e-01 3.22639638e-01 1.49856114e-01 1.33803456e+02] [-3.18793168e-01 9.46520937e-01 -4.96893617e-02 -3.43237625e+01] [-1.57873707e-01 -1.33423455e-03 9.87458411e-01 -2.19492641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:-34.33, Z:-21.95 [[ 9.35186783e-01 3.20702033e-01 1.50252742e-01 1.33830715e+02] [-3.16812112e-01 9.47179583e-01 -4.98088657e-02 -3.43275297e+01] [-1.58290134e-01 -1.02129559e-03 9.87392116e-01 -2.19536706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:133.86, Y:-34.33, Z:-21.96 [[ 9.35472458e-01 3.19621425e-01 1.50776075e-01 1.33857177e+02] [-3.15692541e-01 9.47544940e-01 -4.99680513e-02 -3.43348385e+01] [-1.58837967e-01 -8.55146686e-04 9.87304294e-01 -2.19589710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.88, Y:-34.34, Z:-21.96 [[ 9.35863728e-01 3.18445605e-01 1.50835936e-01 1.33884117e+02] [-3.14500347e-01 9.47940901e-01 -4.99757961e-02 -3.43426114e+01] [-1.58898126e-01 -6.67419446e-04 9.87294758e-01 -2.19637927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:-34.35, Z:-21.97 [[ 9.37121361e-01 3.14934031e-01 1.50399837e-01 1.33910394e+02] [-3.10968605e-01 9.49113560e-01 -4.98194490e-02 -3.43491315e+01] [-1.58436364e-01 -8.27575761e-05 9.87369187e-01 -2.19679914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:-34.36, Z:-21.97 [[ 9.37778978e-01 3.12970134e-01 1.50400411e-01 1.33936628e+02] [-3.08981838e-01 9.49762939e-01 -4.98054641e-02 -3.43561906e+01] [-1.58432359e-01 2.35521916e-04 9.87369805e-01 -2.19726761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:-34.36, Z:-21.98 [[ 9.38453295e-01 3.10841240e-01 1.50609215e-01 1.33964715e+02] [-3.06816473e-01 9.50461668e-01 -4.98625078e-02 -3.43634485e+01] [-1.58647609e-01 5.84246542e-04 9.87335097e-01 -2.19773121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.99, Y:-34.37, Z:-21.98 [[ 9.39135319e-01 3.08616045e-01 1.50933726e-01 1.33991924e+02] [-3.04546548e-01 9.51186220e-01 -4.99617244e-02 -3.43712482e+01] [-1.58985070e-01 9.54474654e-04 9.87280526e-01 -2.19825420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:-34.38, Z:-21.99 [[ 9.40736000e-01 3.03856048e-01 1.50622974e-01 1.34017561e+02] [-2.99743964e-01 9.52716351e-01 -4.98508795e-02 -3.43796668e+01] [-1.58648462e-01 1.74818961e-03 9.87333586e-01 -2.19876992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:-34.39, Z:-21.99 [[ 9.41545173e-01 3.01476079e-01 1.50349133e-01 1.34044633e+02] [-2.97350506e-01 9.53471349e-01 -4.97500058e-02 -3.43889620e+01] [-1.58352027e-01 2.13548694e-03 9.87380411e-01 -2.19929342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:-34.40, Z:-22.00 [[ 9.42222576e-01 2.99521446e-01 1.50011734e-01 1.34070289e+02] [-2.95391086e-01 9.54086419e-01 -4.96307464e-02 -3.43981790e+01] [-1.57989631e-01 2.45108081e-03 9.87437729e-01 -2.19977505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:-34.41, Z:-22.00 [[ 9.43165287e-01 2.96477406e-01 1.50134571e-01 1.34098339e+02] [-2.92303723e-01 9.55035303e-01 -4.96598767e-02 -3.44078658e+01] [-1.58106847e-01 2.95257786e-03 9.87417595e-01 -2.20024547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.12, Y:-34.42, Z:-22.01 [[ 9.43287555e-01 2.95835548e-01 1.50631728e-01 1.34124902e+02] [-2.91626480e-01 9.55233963e-01 -4.98204039e-02 -3.44169609e+01] [-1.58627189e-01 3.06676629e-03 9.87333788e-01 -2.20071063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:-34.43, Z:-22.01 [[ 9.43322220e-01 2.95740509e-01 1.50601265e-01 1.34151789e+02] [-2.91532950e-01 9.55263361e-01 -4.98041190e-02 -3.44263220e+01] [-1.58592966e-01 3.07610106e-03 9.87339257e-01 -2.20111696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49587156 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:134.18, Y:-34.44, Z:-22.02 [[ 9.43161788e-01 2.96230884e-01 1.50642307e-01 1.34179291e+02] [-2.92027912e-01 9.55111680e-01 -4.98134276e-02 -3.44363976e+01] [-1.58636502e-01 2.99036320e-03 9.87332526e-01 -2.20168620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.21, Y:-34.45, Z:-22.02 [[ 9.42552417e-01 2.98037542e-01 1.50892564e-01 1.34207248e+02] [-2.93844129e-01 9.54550367e-01 -4.98921249e-02 -3.44460105e+01] [-1.58904279e-01 2.68704885e-03 9.87290337e-01 -2.20217628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:-34.46, Z:-22.03 [[ 9.42123124e-01 2.99167777e-01 1.51336251e-01 1.34234776e+02] [-2.94964628e-01 9.54197250e-01 -5.00347606e-02 -3.44556679e+01] [-1.59373422e-01 2.50006408e-03 9.87215205e-01 -2.20273315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:-34.47, Z:-22.03 [[ 9.41758805e-01 3.00394073e-01 1.51174579e-01 1.34262061e+02] [-2.96216305e-01 9.53812442e-01 -4.99772611e-02 -3.44660366e+01] [-1.59205068e-01 2.28615044e-03 9.87242888e-01 -2.20323694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:134.29, Y:-34.48, Z:-22.04 [[ 9.41188381e-01 3.02639646e-01 1.50245386e-01 1.34288134e+02] [-2.98542451e-01 9.53103179e-01 -4.96662296e-02 -3.44770330e+01] [-1.58230325e-01 1.89065234e-03 9.87400420e-01 -2.20368591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:134.31, Y:-34.49, Z:-22.04 [[ 9.40900592e-01 3.03543990e-01 1.50223576e-01 1.34314189e+02] [-2.99460360e-01 9.52815850e-01 -4.96532905e-02 -3.44864922e+01] [-1.58207362e-01 1.73280427e-03 9.87404389e-01 -2.20418270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.34, Y:-34.50, Z:-22.05 [[ 9.40740496e-01 3.04167974e-01 1.49963872e-01 1.34341275e+02] [-3.00108033e-01 9.52617045e-01 -4.95573816e-02 -3.44960568e+01] [-1.57931909e-01 1.61527301e-03 9.87448684e-01 -2.20466752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:134.37, Y:-34.51, Z:-22.05 [[ 9.40519008e-01 3.04948081e-01 1.49768704e-01 1.34367801e+02] [-3.00909840e-01 9.52367835e-01 -4.94851031e-02 -3.45054878e+01] [-1.57725283e-01 1.47480349e-03 9.87481929e-01 -2.20512935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:-34.51, Z:-22.06 [[ 9.39970031e-01 3.06252240e-01 1.50552003e-01 1.34394413e+02] [-3.02189257e-01 9.51949573e-01 -4.97359311e-02 -3.45145922e+01] [-1.58549655e-01 1.25508697e-03 9.87350207e-01 -2.20562722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:-34.53, Z:-22.06 [[ 9.39638563e-01 3.06995656e-01 1.51106048e-01 1.34421846e+02] [-3.02913387e-01 9.51710250e-01 -4.99107287e-02 -3.45253221e+01] [-1.59131551e-01 1.12600075e-03 9.87256746e-01 -2.20614968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:-34.54, Z:-22.07 [[ 9.39257402e-01 3.07965650e-01 1.51501457e-01 1.34448246e+02] [-3.03926916e-01 9.51397254e-01 -4.97161448e-02 -3.45366528e+01] [-1.59448935e-01 6.50886612e-04 9.87205963e-01 -2.20665518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:-34.55, Z:-22.07 [[ 9.39069870e-01 3.08565015e-01 1.51444411e-01 1.34474125e+02] [-3.04443880e-01 9.51202613e-01 -5.02743834e-02 -3.45462207e+01] [-1.59567235e-01 1.10483468e-03 9.87186445e-01 -2.20708813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:-34.56, Z:-22.07 [[ 9.38419861e-01 3.10337949e-01 1.51850328e-01 1.34500128e+02] [-3.06258966e-01 9.50626132e-01 -5.01537844e-02 -3.45560421e+01] [-1.59917512e-01 5.59782967e-04 9.87130222e-01 -2.20747413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:-34.57, Z:-22.08 [[ 9.38173617e-01 3.11184654e-01 1.51638966e-01 1.34527591e+02] [-3.07129720e-01 9.50349382e-01 -5.00738295e-02 -3.45651535e+01] [-1.59692205e-01 4.05112539e-04 9.87166772e-01 -2.20802815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:-34.57, Z:-22.08 [[ 9.37952256e-01 3.12061952e-01 1.51204839e-01 1.34553164e+02] [-3.08042273e-01 9.50061722e-01 -4.99267793e-02 -3.45739893e+01] [-1.59234178e-01 2.51452924e-04 9.87240808e-01 -2.20848542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:-34.58, Z:-22.09 [[ 9.37540683e-01 3.13818869e-01 1.50117237e-01 1.34577979e+02] [-3.09881131e-01 9.49482867e-01 -4.95577505e-02 -3.45829598e+01] [-1.58085902e-01 -5.60920404e-05 9.87425361e-01 -2.20893521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:-34.59, Z:-22.09 [[ 9.37266344e-01 3.14762675e-01 1.49854127e-01 1.34603137e+02] [-3.10852926e-01 9.49170378e-01 -4.94575716e-02 -3.45915119e+01] [-1.57804496e-01 -2.27676569e-04 9.87470349e-01 -2.20942218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:134.63, Y:-34.60, Z:-22.10 [[ 9.36995018e-01 3.15581698e-01 1.49828330e-01 1.34628828e+02] [-3.11685850e-01 9.48898334e-01 -4.94356389e-02 -3.46003159e+01] [-1.57772836e-01 -3.78423128e-04 9.87475361e-01 -2.20988295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:-34.61, Z:-22.10 [[ 9.36603643e-01 3.16295028e-01 1.50768272e-01 1.34656697e+02] [-3.12611206e-01 9.48658743e-01 -4.81749181e-02 -3.46097121e+01] [-1.58265127e-01 -2.01104770e-03 9.87394605e-01 -2.21041150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:-34.62, Z:-22.11 [[ 9.36321180e-01 3.17910813e-01 1.49115269e-01 1.34681658e+02] [-3.13781707e-01 9.48120052e-01 -5.10823484e-02 -3.46157107e+01] [-1.57618808e-01 1.03984095e-03 9.87499484e-01 -2.21082923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:134.71, Y:-34.63, Z:-22.11 [[ 9.36198064e-01 3.18124067e-01 1.49433138e-01 1.34707336e+02] [-3.14285825e-01 9.48048724e-01 -4.92751148e-02 -3.46251067e+01] [-1.57345496e-01 -8.33449945e-04 9.87543265e-01 -2.21131088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.73, Y:-34.63, Z:-22.12 [[ 9.36024033e-01 3.18631954e-01 1.49441254e-01 1.34733801e+02] [-3.14801656e-01 9.47878058e-01 -4.92656590e-02 -3.46337554e+01] [-1.57349699e-01 -9.30513496e-04 9.87542509e-01 -2.21181371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:-34.64, Z:-22.12 [[ 9.35825696e-01 3.18812232e-01 1.50296463e-01 1.34760915e+02] [-3.15179696e-01 9.47814845e-01 -4.80497468e-02 -3.46425673e+01] [-1.57772066e-01 -2.40420593e-03 9.87472630e-01 -2.21232853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:-34.65, Z:-22.13 [[ 9.35644316e-01 3.19778778e-01 1.49369497e-01 1.34786735e+02] [-3.15676666e-01 9.47492030e-01 -5.10597258e-02 -3.46486483e+01] [-1.57854224e-01 6.21277652e-04 9.87462231e-01 -2.21278629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:134.81, Y:-34.66, Z:-22.13 [[ 9.35719763e-01 3.19099489e-01 1.50346401e-01 1.34812584e+02] [-3.15234868e-01 9.47720636e-01 -4.95234640e-02 -3.46577498e+01] [-1.58289299e-01 -1.05434385e-03 9.87392215e-01 -2.21322917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:134.84, Y:-34.67, Z:-22.14 [[ 9.35926941e-01 3.18435970e-01 1.50463598e-01 1.34839354e+02] [-3.14558706e-01 9.47943892e-01 -4.95499551e-02 -3.46659958e+01] [-1.58409537e-01 -9.54496969e-04 9.87373034e-01 -2.21365239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:134.87, Y:-34.67, Z:-22.14 [[ 9.36412861e-01 3.16729472e-01 1.51041041e-01 1.34865582e+02] [-3.12802139e-01 9.48515671e-01 -4.97276867e-02 -3.46731347e+01] [-1.59015018e-01 -6.80315225e-04 9.87275930e-01 -2.21411259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:-34.68, Z:-22.15 [[ 9.36736079e-01 3.15518968e-01 1.51569455e-01 1.34890926e+02] [-3.11549802e-01 9.48919146e-01 -4.98916443e-02 -3.46801538e+01] [-1.59568918e-01 -4.86130438e-04 9.87186671e-01 -2.21457220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:134.92, Y:-34.69, Z:-22.15 [[ 9.37081585e-01 3.14360592e-01 1.51840449e-01 1.34917637e+02] [-3.10364270e-01 9.49303601e-01 -4.99669237e-02 -3.46885169e+01] [-1.59850317e-01 -3.02766080e-04 9.87141218e-01 -2.21504204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:-34.70, Z:-22.16 [[ 9.38069263e-01 3.11559234e-01 1.51515349e-01 1.34944316e+02] [-3.07545729e-01 9.50226719e-01 -4.98478444e-02 -3.46975555e+01] [-1.59504489e-01 1.62832095e-04 9.87197190e-01 -2.21563803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:134.97, Y:-34.71, Z:-22.16 [[ 9.38686133e-01 3.09908636e-01 1.51079389e-01 1.34971498e+02] [-3.05898371e-01 9.50766243e-01 -4.96964570e-02 -3.47066135e+01] [-1.59042545e-01 4.34435872e-04 9.87271634e-01 -2.21608623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:-34.71, Z:-22.17 [[ 9.39183870e-01 3.08260126e-01 1.51358363e-01 1.34997584e+02] [-3.04214932e-01 9.51301842e-01 -4.97803237e-02 -3.47147401e+01] [-1.59332778e-01 7.07403019e-04 9.87224678e-01 -2.21666336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:-34.72, Z:-22.17 [[ 9.39693328e-01 3.06672298e-01 1.51421768e-01 1.35024323e+02] [-3.02604834e-01 9.51814670e-01 -4.97910481e-02 -3.47229864e+01] [-1.59394995e-01 9.67356796e-04 9.87214414e-01 -2.21715699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.05, Y:-34.73, Z:-22.18 [[ 9.40703824e-01 3.03343118e-01 1.51852785e-01 1.35050663e+02] [-2.99210440e-01 9.52880169e-01 -4.99249049e-02 -3.47312515e+01] [-1.59841884e-01 1.52861032e-03 9.87141447e-01 -2.21755731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:-34.74, Z:-22.18 [[ 9.40994064e-01 3.02159710e-01 1.52412864e-01 1.35078362e+02] [-2.97982529e-01 9.53255753e-01 -5.00987236e-02 -3.47409952e+01] [-1.60426255e-01 1.72623091e-03 9.87046320e-01 -2.21814273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:135.11, Y:-34.75, Z:-22.19 [[ 9.41404732e-01 3.01026648e-01 1.52118662e-01 1.35105305e+02] [-2.96851625e-01 9.53613812e-01 -4.99981030e-02 -3.47504962e+01] [-1.60113218e-01 1.91177870e-03 9.87096805e-01 -2.21857809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:135.13, Y:-34.76, Z:-22.19 [[ 9.41642021e-01 3.00317746e-01 1.52051159e-01 1.35133086e+02] [-2.96138275e-01 9.53837066e-01 -4.99697246e-02 -3.47602738e+01] [-1.60038826e-01 2.02542474e-03 9.87108642e-01 -2.21908436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:135.16, Y:-34.77, Z:-22.20 [[ 9.41892217e-01 2.99468668e-01 1.52176112e-01 1.35160996e+02] [-2.95271956e-01 9.54103673e-01 -5.00065247e-02 -3.47709173e+01] [-1.60167175e-01 2.16741828e-03 9.87087523e-01 -2.21969030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.19, Y:-34.78, Z:-22.20 [[ 9.42000764e-01 2.99078530e-01 1.52271447e-01 1.35189045e+02] [-2.94871458e-01 9.54225883e-01 -5.00378528e-02 -3.47806516e+01] [-1.60266603e-01 2.23519204e-03 9.87071233e-01 -2.22025727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:135.22, Y:-34.79, Z:-22.21 [[ 9.42142117e-01 2.98764797e-01 1.52012592e-01 1.35216736e+02] [-2.94568039e-01 9.54324042e-01 -4.99529188e-02 -3.47901824e+01] [-1.59993445e-01 2.28469756e-03 9.87115433e-01 -2.22074245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:-34.80, Z:-22.21 [[ 9.42614605e-01 2.97814363e-01 1.50944730e-01 1.35244900e+02] [-2.93665000e-01 9.54620719e-01 -4.95999029e-02 -3.48005331e+01] [-1.58866530e-01 2.42640877e-03 9.87297087e-01 -2.22141371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:135.27, Y:-34.81, Z:-22.22 [[ 9.42859736e-01 2.97067809e-01 1.50884840e-01 1.35272695e+02] [-2.92912262e-01 9.54852977e-01 -4.95802232e-02 -3.48111345e+01] [-1.58801527e-01 2.55117650e-03 9.87307230e-01 -2.22194175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:-34.82, Z:-22.22 [[ 9.42958451e-01 2.96477321e-01 1.51428390e-01 1.35299395e+02] [-2.92283981e-01 9.55036188e-01 -4.97589660e-02 -3.48214525e+01] [-1.59371997e-01 2.66054477e-03 9.87215016e-01 -2.22249441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:-34.83, Z:-22.23 [[ 9.42963681e-01 2.96145190e-01 1.52044479e-01 1.35329663e+02] [-2.91913811e-01 9.55139051e-01 -4.99571829e-02 -3.48326718e+01] [-1.60018199e-01 2.72392586e-03 9.87110306e-01 -2.22302144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:-34.84, Z:-22.24 [[ 9.42938545e-01 2.96230445e-01 1.52034285e-01 1.35360999e+02] [-2.91995170e-01 9.55112560e-01 -4.99881867e-02 -3.48430938e+01] [-1.60017878e-01 2.74251126e-03 9.87110307e-01 -2.22359199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:135.39, Y:-34.86, Z:-22.24 [[ 9.43026353e-01 2.95626168e-01 1.52664556e-01 1.35390559e+02] [-2.91345363e-01 9.55299393e-01 -5.02090608e-02 -3.48554539e+01] [-1.60683470e-01 2.87035696e-03 9.87001815e-01 -2.22397521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.42, Y:-34.87, Z:-22.25 [[ 9.42904758e-01 2.95642116e-01 1.53383041e-01 1.35421079e+02] [-2.91315738e-01 9.55294332e-01 -5.04765242e-02 -3.48666380e+01] [-1.61448936e-01 2.91166099e-03 9.86876772e-01 -2.22462326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.45, Y:-34.88, Z:-22.25 [[ 9.42797803e-01 2.95913921e-01 1.53516302e-01 1.35451084e+02] [-2.91578084e-01 9.55210208e-01 -5.05537252e-02 -3.48779695e+01] [-1.61599890e-01 2.89995172e-03 9.86852099e-01 -2.22514452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:-34.89, Z:-22.26 [[ 9.42593598e-01 2.96495708e-01 1.53647663e-01 1.35481515e+02] [-2.92155001e-01 9.55029985e-01 -5.06278954e-02 -3.48892532e+01] [-1.61749079e-01 2.83259692e-03 9.86827853e-01 -2.22576065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:-34.90, Z:-22.26 [[ 9.42192165e-01 2.97913523e-01 1.53367068e-01 1.35510725e+02] [-2.93602025e-01 9.54589277e-01 -5.05684014e-02 -3.49015125e+01] [-1.61467569e-01 2.61627006e-03 9.86874551e-01 -2.22633152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:135.54, Y:-34.91, Z:-22.27 [[ 9.41788863e-01 2.99181401e-01 1.53376097e-01 1.35540546e+02] [-2.94881035e-01 9.54193161e-01 -5.06022290e-02 -3.49135555e+01] [-1.61489668e-01 2.42891347e-03 9.86871414e-01 -2.22683772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:-34.92, Z:-22.27 [[ 9.41275029e-01 3.00473050e-01 1.54004110e-01 1.35569018e+02] [-2.96149198e-01 9.53787659e-01 -5.08404794e-02 -3.49245769e+01] [-1.62163414e-01 2.24668000e-03 9.86761359e-01 -2.22748805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:-34.94, Z:-22.28 [[ 9.40734409e-01 3.02162951e-01 1.54001048e-01 1.35598275e+02] [-2.97857439e-01 9.53254230e-01 -5.08656912e-02 -3.49359655e+01] [-1.62171878e-01 1.98074831e-03 9.86760538e-01 -2.22798591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:135.63, Y:-34.95, Z:-22.28 [[ 9.39500726e-01 3.06335851e-01 1.53286435e-01 1.35626309e+02] [-3.02120751e-01 9.51922633e-01 -5.06591810e-02 -3.49480088e+01] [-1.61435550e-01 1.28332458e-03 9.86882423e-01 -2.22845482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:135.65, Y:-34.96, Z:-22.29 [[ 9.38825295e-01 3.08591702e-01 1.52899401e-01 1.35653796e+02] [-3.04427322e-01 9.51194176e-01 -5.05336143e-02 -3.49583051e+01] [-1.61031273e-01 8.95480250e-04 9.86948898e-01 -2.22895691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:-34.97, Z:-22.30 [[ 9.38136801e-01 3.10710863e-01 1.52833578e-01 1.35681114e+02] [-3.06578653e-01 9.50504330e-01 -5.05079023e-02 -3.49683888e+01] [-1.60962332e-01 5.27809205e-04 9.86960409e-01 -2.22963101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:-34.98, Z:-22.30 [[ 9.37527026e-01 3.12519061e-01 1.52888563e-01 1.35708887e+02] [-3.08408379e-01 9.49911465e-01 -5.05220884e-02 -3.49785705e+01] [-1.61019714e-01 2.13709482e-04 9.86951167e-01 -2.23015044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:-34.99, Z:-22.31 [[ 9.36364017e-01 3.15579361e-01 1.53727338e-01 1.35737248e+02] [-3.11464767e-01 9.48899134e-01 -5.07950111e-02 -3.49887502e+01] [-1.61901595e-01 -3.18028953e-04 9.86806857e-01 -2.23066134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:-35.00, Z:-22.31 [[ 9.35949350e-01 3.16621939e-01 1.54108279e-01 1.35763893e+02] [-3.12500789e-01 9.48551685e-01 -5.09210992e-02 -3.49981467e+01] [-1.62302405e-01 -4.99389200e-04 9.86740939e-01 -2.23112265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:135.79, Y:-35.01, Z:-22.32 [[ 9.35688582e-01 3.17316357e-01 1.54263438e-01 1.35791015e+02] [-3.13196931e-01 9.48319535e-01 -5.09680541e-02 -3.50077872e+01] [-1.62464029e-01 -6.24609063e-04 9.86714269e-01 -2.23159070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:-35.02, Z:-22.32 [[ 9.35582627e-01 3.17517266e-01 1.54492506e-01 1.35817973e+02] [-3.13389230e-01 9.48252256e-01 -5.10377150e-02 -3.50161140e+01] [-1.62703223e-01 -6.66288084e-04 9.86674829e-01 -2.23212940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:-35.02, Z:-22.33 [[ 9.35617862e-01 3.17468244e-01 1.54379826e-01 1.35843884e+02] [-3.13346919e-01 9.48268671e-01 -5.09925135e-02 -3.50246651e+01] [-1.62582056e-01 -6.64936403e-04 9.86694802e-01 -2.23267278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:-35.03, Z:-22.33 [[ 9.35792772e-01 3.17056336e-01 1.54166043e-01 1.35871182e+02] [-3.12942635e-01 9.48406515e-01 -5.09115880e-02 -3.50338607e+01] [-1.62353921e-01 -6.02431759e-04 9.86732406e-01 -2.23318501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:-35.04, Z:-22.34 [[ 9.36041592e-01 3.16653772e-01 1.53481358e-01 1.35897573e+02] [-3.12572036e-01 9.48541039e-01 -5.06815457e-02 -3.50430068e+01] [-1.61631869e-01 -5.33945754e-04 9.86850979e-01 -2.23365411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:-35.05, Z:-22.34 [[ 9.36172340e-01 3.16529916e-01 1.52938426e-01 1.35925053e+02] [-3.12476550e-01 9.48582387e-01 -5.04961413e-02 -3.50519139e+01] [-1.61058236e-01 -5.16580812e-04 9.86944769e-01 -2.23423728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.95, Y:-35.06, Z:-22.35 [[ 9.36120711e-01 3.16702998e-01 1.52896127e-01 1.35952666e+02] [-3.12654802e-01 9.48524596e-01 -5.04783726e-02 -3.50607602e+01] [-1.61012389e-01 -5.49858312e-04 9.86952232e-01 -2.23467360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:-35.07, Z:-22.35 [[ 9.35986328e-01 3.16777667e-01 1.53562704e-01 1.35979140e+02] [-3.12696174e-01 9.48499648e-01 -5.06904403e-02 -3.50688914e+01] [-1.61711770e-01 -5.72911097e-04 9.86837867e-01 -2.23516858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:-35.08, Z:-22.36 [[ 9.35844239e-01 3.16990482e-01 1.53988944e-01 1.36005207e+02] [-3.12890671e-01 9.48428515e-01 -5.08210490e-02 -3.50767559e+01] [-1.62157294e-01 -6.21118076e-04 9.86764727e-01 -2.23558767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:136.03, Y:-35.08, Z:-22.36 [[ 9.35642286e-01 3.17368743e-01 1.54436374e-01 1.36033035e+02] [-3.13251710e-01 9.48301953e-01 -5.09585447e-02 -3.50836932e+01] [-1.62624964e-01 -6.98488792e-04 9.86687708e-01 -2.23602284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:-35.09, Z:-22.37 [[ 9.35762362e-01 3.16932321e-01 1.54604999e-01 1.36060041e+02] [-3.12801643e-01 9.48447946e-01 -5.10061430e-02 -3.50907721e+01] [-1.62800289e-01 -6.31068884e-04 9.86658841e-01 -2.23661186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:136.09, Y:-35.10, Z:-22.37 [[ 9.36004755e-01 3.16459299e-01 1.54105842e-01 1.36086762e+02] [-3.12350391e-01 9.48605927e-01 -5.08333506e-02 -3.50994571e+01] [-1.62272402e-01 -5.54762097e-04 9.86745844e-01 -2.23704081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:-35.11, Z:-22.38 [[ 9.36393046e-01 3.15377284e-01 1.53965038e-01 1.36113141e+02] [-3.11262714e-01 9.48966295e-01 -5.07788802e-02 -3.51077768e+01] [-1.62122137e-01 -3.74585143e-04 9.86770628e-01 -2.23766849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:136.14, Y:-35.12, Z:-22.38 [[ 9.37457570e-01 3.12447954e-01 1.53458727e-01 1.36142314e+02] [-3.08323280e-01 9.49934872e-01 -5.06013238e-02 -3.51165072e+01] [-1.61586076e-01 1.21696069e-04 9.86858615e-01 -2.23813078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:-35.13, Z:-22.39 [[ 9.38161598e-01 3.10355956e-01 1.53401423e-01 1.36170728e+02] [-3.06206599e-01 9.50620297e-01 -5.05823168e-02 -3.51256810e+01] [-1.61525029e-01 4.81859348e-04 9.86868498e-01 -2.23873132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:-35.14, Z:-22.39 [[ 9.38951330e-01 3.07959901e-01 1.53398496e-01 1.36199394e+02] [-3.03778558e-01 9.51398915e-01 -5.05835143e-02 -3.51356951e+01] [-1.61520857e-01 8.96284198e-04 9.86868892e-01 -2.23927848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:-35.15, Z:-22.40 [[ 9.39718235e-01 3.05637823e-01 1.53346535e-01 1.36228048e+02] [-3.01428594e-01 9.52146965e-01 -5.05663801e-02 -3.51457565e+01] [-1.61463437e-01 1.29511896e-03 9.86877845e-01 -2.23977373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:-35.16, Z:-22.40 [[ 9.40327032e-01 3.03710025e-01 1.53444755e-01 1.36259320e+02] [-2.99470143e-01 9.52763128e-01 -5.05969913e-02 -3.51562590e+01] [-1.61563319e-01 1.62559587e-03 9.86861009e-01 -2.24034264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:-35.17, Z:-22.41 [[ 9.41243271e-01 3.01039075e-01 1.53090105e-01 1.36289719e+02] [-2.96778326e-01 9.53609468e-01 -5.05134500e-02 -3.51664178e+01] [-1.61194695e-01 2.11161994e-03 9.86920367e-01 -2.24085967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:136.32, Y:-35.18, Z:-22.41 [[ 9.41418229e-01 3.00574444e-01 1.52927177e-01 1.36319300e+02] [-2.96313491e-01 9.53755801e-01 -5.04795672e-02 -3.51770778e+01] [-1.61028050e-01 2.20799902e-03 9.86947360e-01 -2.24130332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:-35.19, Z:-22.42 [[ 9.41372474e-01 3.00659904e-01 1.53040801e-01 1.36348632e+02] [-2.96389105e-01 9.53728831e-01 -5.05451748e-02 -3.51866246e+01] [-1.61156331e-01 2.22221024e-03 9.86926390e-01 -2.24186468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:136.38, Y:-35.20, Z:-22.42 [[ 9.41059322e-01 3.01406448e-01 1.53497576e-01 1.36378704e+02] [-2.97115552e-01 9.53493384e-01 -5.07219311e-02 -3.51971416e+01] [-1.61646840e-01 2.12582911e-03 9.86846381e-01 -2.24234734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:-35.21, Z:-22.43 [[ 9.40374469e-01 3.03312096e-01 1.53940350e-01 1.36406980e+02] [-2.99016728e-01 9.52889509e-01 -5.08977495e-02 -3.52053446e+01] [-1.62126048e-01 1.83220432e-03 9.86768356e-01 -2.24285068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:-35.22, Z:-22.43 [[ 9.39869671e-01 3.04688759e-01 1.54304120e-01 1.36437664e+02] [-3.00391909e-01 9.52450637e-01 -5.10145650e-02 -3.52152600e+01] [-1.62510622e-01 1.59533317e-03 9.86705504e-01 -2.24334507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.47, Y:-35.22, Z:-22.44 [[ 9.39319235e-01 3.06034910e-01 1.54990352e-01 1.36468006e+02] [-3.01712885e-01 9.52019266e-01 -5.12703777e-02 -3.52246980e+01] [-1.63244326e-01 1.39666572e-03 9.86584684e-01 -2.24389404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:-35.23, Z:-22.44 [[ 9.38528154e-01 3.08130403e-01 1.55629560e-01 1.36497586e+02] [-3.03795966e-01 9.51343533e-01 -5.15120590e-02 -3.52320758e+01] [-1.63929607e-01 1.06588521e-03 9.86471463e-01 -2.24433401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:-35.24, Z:-22.45 [[ 9.38299955e-01 3.08629583e-01 1.56015942e-01 1.36527683e+02] [-3.04280116e-01 9.51181799e-01 -5.16410249e-02 -3.52415241e+01] [-1.64337473e-01 9.82222330e-04 9.86403685e-01 -2.24491927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:-35.25, Z:-22.45 [[ 9.38285719e-01 3.08607272e-01 1.56145640e-01 1.36556793e+02] [-3.04245261e-01 9.51189003e-01 -5.17136457e-02 -3.52518024e+01] [-1.64483223e-01 1.01560436e-03 9.86379358e-01 -2.24549694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:136.58, Y:-35.26, Z:-22.46 [[ 9.38490513e-01 3.08162254e-01 1.55793397e-01 1.36583813e+02] [-3.03809238e-01 9.51333156e-01 -5.16253143e-02 -3.52623572e+01] [-1.64120398e-01 1.11839443e-03 9.86439681e-01 -2.24593353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:136.61, Y:-35.27, Z:-22.46 [[ 9.38979622e-01 3.06957045e-01 1.55224492e-01 1.36614882e+02] [-3.02620205e-01 9.51722453e-01 -5.14332853e-02 -3.52736694e+01] [-1.63518443e-01 1.32073924e-03 9.86539393e-01 -2.24646430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:-35.28, Z:-22.47 [[ 9.39086369e-01 3.06529047e-01 1.55424371e-01 1.36645008e+02] [-3.02169471e-01 9.51860230e-01 -5.15336092e-02 -3.52823389e+01] [-1.63738825e-01 1.43001016e-03 9.86502687e-01 -2.24711526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:-35.29, Z:-22.48 [[ 9.39065154e-01 3.06573756e-01 1.55464367e-01 1.36674931e+02] [-3.02207263e-01 9.51845797e-01 -5.15785777e-02 -3.52918095e+01] [-1.63790743e-01 1.45318409e-03 9.86494035e-01 -2.24762508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:-35.30, Z:-22.48 [[ 9.38931745e-01 3.07032593e-01 1.55364619e-01 1.36704021e+02] [-3.02673160e-01 9.51697970e-01 -5.15745258e-02 -3.53016119e+01] [-1.63695253e-01 1.40025914e-03 9.86509961e-01 -2.24818606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:-35.31, Z:-22.49 [[ 9.38637406e-01 3.08055129e-01 1.55118848e-01 1.36732612e+02] [-3.03718828e-01 9.51367691e-01 -5.15207756e-02 -3.53107495e+01] [-1.63446299e-01 1.24681249e-03 9.86551445e-01 -2.24867083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:-35.32, Z:-22.49 [[ 9.38308489e-01 3.09046161e-01 1.55137519e-01 1.36763402e+02] [-3.04722493e-01 9.51046434e-01 -5.15255575e-02 -3.53203953e+01] [-1.63466760e-01 1.07297637e-03 9.86548259e-01 -2.24922511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:-35.33, Z:-22.50 [[ 9.38076541e-01 3.10289261e-01 1.54055112e-01 1.36792677e+02] [-3.06037227e-01 9.50641781e-01 -5.11998114e-02 -3.53289619e+01] [-1.62337978e-01 8.82742618e-04 9.86734818e-01 -2.24973898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:-35.34, Z:-22.50 [[ 9.38004858e-01 3.10532390e-01 1.54001694e-01 1.36820464e+02] [-3.06281920e-01 9.50562403e-01 -5.12103893e-02 -3.53376847e+01] [-1.62290705e-01 8.67659279e-04 9.86742608e-01 -2.25025614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:-35.35, Z:-22.51 [[ 9.38075476e-01 3.10177021e-01 1.54287451e-01 1.36848629e+02] [-3.05905450e-01 9.50678360e-01 -5.13080072e-02 -3.53467890e+01] [-1.62592306e-01 9.33411227e-04 9.86692896e-01 -2.25077452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:-35.36, Z:-22.51 [[ 9.38277626e-01 3.09417142e-01 1.54583726e-01 1.36875474e+02] [-3.05119447e-01 9.50925813e-01 -5.14025470e-02 -3.53563180e+01] [-1.62902485e-01 1.06335869e-03 9.86641601e-01 -2.25130185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:136.90, Y:-35.37, Z:-22.52 [[ 9.39230283e-01 3.06744215e-01 1.54124828e-01 1.36904566e+02] [-3.02437670e-01 9.51790781e-01 -5.12422152e-02 -3.53682947e+01] [-1.62412843e-01 1.51508645e-03 9.86721730e-01 -2.25181606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:-35.38, Z:-22.52 [[ 9.39805864e-01 3.05032166e-01 1.54014014e-01 1.36933326e+02] [-3.00704254e-01 9.52340276e-01 -5.12342766e-02 -3.53791365e+01] [-1.62301851e-01 1.83760443e-03 9.86739445e-01 -2.25245164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:-35.39, Z:-22.53 [[ 9.40347820e-01 3.03214310e-01 1.54295367e-01 1.36962892e+02] [-2.98841737e-01 9.52919894e-01 -5.13545713e-02 -3.53917539e+01] [-1.62602565e-01 2.18126378e-03 9.86689236e-01 -2.25302653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:-35.40, Z:-22.54 [[ 9.40941233e-01 3.01373587e-01 1.54284015e-01 1.36992854e+02] [-2.96972437e-01 9.53502794e-01 -5.13789213e-02 -3.54043479e+01] [-1.62594489e-01 2.52644571e-03 9.86689743e-01 -2.25360625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:-35.42, Z:-22.54 [[ 9.42014142e-01 2.98422641e-01 1.53470789e-01 1.37021332e+02] [-2.94023744e-01 9.54428947e-01 -5.11412065e-02 -3.54178183e+01] [-1.61738658e-01 3.05168362e-03 9.86828908e-01 -2.25417018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:-35.43, Z:-22.55 [[ 9.42338037e-01 2.97432587e-01 1.53404300e-01 1.37050460e+02] [-2.93021176e-01 9.54737325e-01 -5.11393273e-02 -3.54296788e+01] [-1.61671314e-01 3.23982489e-03 9.86839344e-01 -2.25468062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:137.08, Y:-35.44, Z:-22.55 [[ 9.42405712e-01 2.97182776e-01 1.53472707e-01 1.37080505e+02] [-2.92760992e-01 9.54814898e-01 -5.11811635e-02 -3.54431590e+01] [-1.61748187e-01 3.30259902e-03 9.86826538e-01 -2.25514974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:137.11, Y:-35.46, Z:-22.56 [[ 9.42314234e-01 2.97580652e-01 1.53263301e-01 1.37108804e+02] [-2.93170840e-01 9.54691111e-01 -5.11443238e-02 -3.54578324e+01] [-1.61538673e-01 3.26169358e-03 9.86860993e-01 -2.25565438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:-35.47, Z:-22.56 [[ 9.41945573e-01 2.98721288e-01 1.53310565e-01 1.37138882e+02] [-2.94318726e-01 9.54335372e-01 -5.11906703e-02 -3.54701647e+01] [-1.61601438e-01 3.09665507e-03 9.86851248e-01 -2.25627901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:-35.48, Z:-22.57 [[ 9.41920508e-01 2.98805574e-01 1.53300312e-01 1.37170165e+02] [-2.94399129e-01 9.54308926e-01 -5.12213552e-02 -3.54807378e+01] [-1.61601083e-01 3.11496659e-03 9.86851249e-01 -2.25684963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:-35.49, Z:-22.57 [[ 9.41397018e-01 3.00322304e-01 1.53551841e-01 1.37199647e+02] [-2.95919056e-01 9.53833456e-01 -5.13191097e-02 -3.54935052e+01] [-1.61875156e-01 2.87274110e-03 9.86807064e-01 -2.25738677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:-35.51, Z:-22.58 [[ 9.40757121e-01 3.02119302e-01 1.53947937e-01 1.37230296e+02] [-2.97711920e-01 9.53266576e-01 -5.14824940e-02 -3.55062059e+01] [-1.62307278e-01 2.60038694e-03 9.86736837e-01 -2.25790678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:-35.52, Z:-22.58 [[ 9.39261993e-01 3.06357648e-01 1.54699389e-01 1.37259596e+02] [-3.01958293e-01 9.51914567e-01 -5.17672349e-02 -3.55188821e+01] [-1.63119890e-01 1.91023277e-03 9.86604405e-01 -2.25839389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:-35.53, Z:-22.59 [[ 9.38456591e-01 3.08730856e-01 1.54869250e-01 1.37288869e+02] [-3.04348628e-01 9.51148210e-01 -5.18555199e-02 -3.55304417e+01] [-1.63313009e-01 1.52991082e-03 9.86573120e-01 -2.25892895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:-35.54, Z:-22.59 [[ 9.37679532e-01 3.10939804e-01 1.55156481e-01 1.37317975e+02] [-3.06567860e-01 9.50428891e-01 -5.19718232e-02 -3.55422075e+01] [-1.63625311e-01 1.16692443e-03 9.86521868e-01 -2.25946462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:-35.55, Z:-22.60 [[ 9.37031505e-01 3.12914203e-01 1.55102097e-01 1.37348808e+02] [-3.08566779e-01 9.49781013e-01 -5.19862441e-02 -3.55542288e+01] [-1.63580261e-01 8.53393998e-04 9.86529660e-01 -2.25999777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:137.38, Y:-35.57, Z:-22.61 [[ 9.36042544e-01 3.16070867e-01 1.54672435e-01 1.37378998e+02] [-3.11785044e-01 9.48735525e-01 -5.18747500e-02 -3.55678816e+01] [-1.63139331e-01 3.32421051e-04 9.86602984e-01 -2.26052690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:-35.58, Z:-22.61 [[ 9.35632575e-01 3.17323570e-01 1.54587956e-01 1.37409183e+02] [-3.13054083e-01 9.48317315e-01 -5.18788076e-02 -3.55791813e+01] [-1.63060804e-01 1.45111532e-04 9.86616011e-01 -2.26116616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:-35.59, Z:-22.62 [[ 9.35234426e-01 3.18427646e-01 1.54726863e-01 1.37439723e+02] [-3.14160010e-01 9.47947168e-01 -5.19582004e-02 -3.55905375e+01] [-1.63217819e-01 -1.58949845e-05 9.86590058e-01 -2.26172495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:-35.60, Z:-22.62 [[ 9.34921725e-01 3.19416902e-01 1.54577524e-01 1.37470550e+02] [-3.15165510e-01 9.47614277e-01 -5.19411510e-02 -3.56018424e+01] [-1.63070750e-01 -1.56593629e-04 9.86614365e-01 -2.26230217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:137.50, Y:-35.61, Z:-22.63 [[ 9.34532061e-01 3.20818374e-01 1.54030508e-01 1.37499764e+02] [-3.16610510e-01 9.47140663e-01 -5.17913953e-02 -3.56144758e+01] [-1.62504188e-01 -3.66958233e-04 9.86707786e-01 -2.26279188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:-35.62, Z:-22.63 [[ 9.34308969e-01 3.21290078e-01 1.54400243e-01 1.37528517e+02] [-3.17062760e-01 9.46980734e-01 -5.19489690e-02 -3.56248471e+01] [-1.62904744e-01 -4.18179692e-04 9.86641713e-01 -2.26343307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:-35.64, Z:-22.64 [[ 9.34002901e-01 3.22033925e-01 1.54702074e-01 1.37559289e+02] [-3.17799622e-01 9.46727972e-01 -5.20533154e-02 -3.56352265e+01] [-1.63223714e-01 -5.46313080e-04 9.86588932e-01 -2.26394710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:-35.65, Z:-22.65 [[ 9.33927124e-01 3.22335698e-01 1.54530985e-01 1.37589125e+02] [-3.18109388e-01 9.46625257e-01 -5.20292282e-02 -3.56454509e+01] [-1.63053811e-01 -5.66249500e-04 9.86617015e-01 -2.26451603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.62, Y:-35.66, Z:-22.65 [[ 9.33989142e-01 3.22339428e-01 1.54147903e-01 1.37618026e+02] [-3.18128889e-01 9.46624005e-01 -5.19326680e-02 -3.56561324e+01] [-1.62660052e-01 -5.34353102e-04 9.86682027e-01 -2.26504087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:-35.67, Z:-22.66 [[ 9.34052428e-01 3.22245378e-01 1.53960964e-01 1.37648995e+02] [-3.18043414e-01 9.46656037e-01 -5.18722997e-02 -3.56672940e+01] [-1.62463685e-01 -5.14823051e-04 9.86714389e-01 -2.26567798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:-35.68, Z:-22.66 [[ 9.34362941e-01 3.21485830e-01 1.53664427e-01 1.37679034e+02] [-3.17284384e-01 9.46914325e-01 -5.18061842e-02 -3.56774481e+01] [-1.62162001e-01 -3.49544332e-04 9.86764087e-01 -2.26620738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:-35.69, Z:-22.67 [[ 9.34610146e-01 3.20772543e-01 1.53651721e-01 1.37708591e+02] [-3.16557031e-01 9.47156237e-01 -5.18334707e-02 -3.56877271e+01] [-1.62158940e-01 -1.95444975e-04 9.86764633e-01 -2.26673059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:-35.70, Z:-22.67 [[ 9.34925373e-01 3.19705763e-01 1.53957045e-01 1.37739292e+02] [-3.15454351e-01 9.47516873e-01 -5.19646807e-02 -3.56985245e+01] [-1.62490306e-01 1.66788497e-05 9.86710140e-01 -2.26726660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:-35.71, Z:-22.68 [[ 9.35259824e-01 3.18580322e-01 1.54258354e-01 1.37769279e+02] [-3.14291363e-01 9.47895837e-01 -5.21000998e-02 -3.57090924e+01] [-1.62818918e-01 2.45061661e-04 9.86655938e-01 -2.26780120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:-35.72, Z:-22.68 [[ 9.35982276e-01 3.16157236e-01 1.54860521e-01 1.37799200e+02] [-3.11796277e-01 9.48706547e-01 -5.23351596e-02 -3.57196973e+01] [-1.63463330e-01 6.99847857e-04 9.86549163e-01 -2.26831232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.83, Y:-35.73, Z:-22.69 [[ 9.36424424e-01 3.14733192e-01 1.55088093e-01 1.37829984e+02] [-3.10334835e-01 9.49179677e-01 -5.24426483e-02 -3.57306204e+01] [-1.63711908e-01 9.79338841e-04 9.86507705e-01 -2.26889696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:137.86, Y:-35.74, Z:-22.69 [[ 9.36858227e-01 3.13292867e-01 1.55384174e-01 1.37860867e+02] [-3.08852479e-01 9.49655717e-01 -5.25753383e-02 -3.57422475e+01] [-1.64032948e-01 1.26485088e-03 9.86454050e-01 -2.26933206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:-35.75, Z:-22.70 [[ 9.37651155e-01 3.10723561e-01 1.55760010e-01 1.37890748e+02] [-3.06220703e-01 9.50498713e-01 -5.27359263e-02 -3.57540215e+01] [-1.64435984e-01 1.75096227e-03 9.86386203e-01 -2.27003327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:-35.77, Z:-22.71 [[ 9.38019537e-01 3.09719395e-01 1.55541777e-01 1.37920890e+02] [-3.05209989e-01 9.50825993e-01 -5.26952844e-02 -3.57659432e+01] [-1.64213916e-01 1.95630221e-03 9.86422811e-01 -2.27058482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:-35.78, Z:-22.71 [[ 9.38333893e-01 3.08653107e-01 1.55765095e-01 1.37950171e+02] [-3.04110493e-01 9.51172179e-01 -5.28042935e-02 -3.57774847e+01] [-1.64457635e-01 2.17825833e-03 9.86381742e-01 -2.27116948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:-35.79, Z:-22.72 [[ 9.38628895e-01 3.07845255e-01 1.55586300e-01 1.37980246e+02] [-3.03296986e-01 9.51433545e-01 -5.27744940e-02 -3.57891770e+01] [-1.64276403e-01 2.34680924e-03 9.86411555e-01 -2.27171099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:-35.80, Z:-22.72 [[ 9.39241773e-01 3.06215058e-01 1.55103936e-01 1.38010739e+02] [-3.01667708e-01 9.51958660e-01 -5.26431716e-02 -3.58017611e+01] [-1.63772667e-01 2.65481699e-03 9.86494534e-01 -2.27223877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:-35.81, Z:-22.73 [[ 9.39390689e-01 3.05836492e-01 1.54948936e-01 1.38040397e+02] [-3.01287505e-01 9.52080076e-01 -5.26247812e-02 -3.58136194e+01] [-1.63618373e-01 2.75105122e-03 9.86519873e-01 -2.27285116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:-35.83, Z:-22.73 [[ 9.39534558e-01 3.05680244e-01 1.54383945e-01 1.38071123e+02] [-3.01157297e-01 9.52130116e-01 -5.24645084e-02 -3.58254009e+01] [-1.63030967e-01 2.79836709e-03 9.86616984e-01 -2.27339970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.10, Y:-35.84, Z:-22.74 [[ 9.39624677e-01 3.05657033e-01 1.53880615e-01 1.38100511e+02] [-3.01158118e-01 9.52137491e-01 -5.23257645e-02 -3.58379753e+01] [-1.62509240e-01 2.82418313e-03 9.86702980e-01 -2.27382825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:138.13, Y:-35.85, Z:-22.74 [[ 9.39443078e-01 3.06159610e-01 1.53990245e-01 1.38131003e+02] [-3.01657769e-01 9.51976201e-01 -5.23822752e-02 -3.58498574e+01] [-1.62632386e-01 2.75781209e-03 9.86682878e-01 -2.27441764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:-35.86, Z:-22.75 [[ 9.39193572e-01 3.06888559e-01 1.54061176e-01 1.38160106e+02] [-3.02386762e-01 9.51741724e-01 -5.24398393e-02 -3.58613975e+01] [-1.62719636e-01 2.66509975e-03 9.86668747e-01 -2.27500230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:-35.87, Z:-22.75 [[ 9.38868198e-01 3.07784844e-01 1.54256269e-01 1.38189101e+02] [-3.03278399e-01 9.51452585e-01 -5.25375179e-02 -3.58729893e+01] [-1.62937778e-01 2.54321043e-03 9.86633069e-01 -2.27549482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:-35.89, Z:-22.76 [[ 9.38070685e-01 3.10184902e-01 1.54300737e-01 1.38218841e+02] [-3.05703204e-01 9.50673804e-01 -5.25820340e-02 -3.58850035e+01] [-1.62999822e-01 2.15543488e-03 9.86623744e-01 -2.27597464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:-35.90, Z:-22.77 [[ 9.37515730e-01 3.11822092e-01 1.54373702e-01 1.38249228e+02] [-3.07353361e-01 9.50138608e-01 -5.26358964e-02 -3.58958928e+01] [-1.63089450e-01 1.89970471e-03 9.86609458e-01 -2.27656857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.28, Y:-35.91, Z:-22.77 [[ 9.37006236e-01 3.13391076e-01 1.54289819e-01 1.38278842e+02] [-3.08942716e-01 9.49622706e-01 -5.26413852e-02 -3.59065227e+01] [-1.63014456e-01 1.65859032e-03 9.86622287e-01 -2.27705714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:-35.92, Z:-22.78 [[ 9.36382214e-01 3.15194665e-01 1.54404249e-01 1.38309501e+02] [-3.10758762e-01 9.49026043e-01 -5.27120695e-02 -3.59176274e+01] [-1.63148216e-01 1.37617109e-03 9.86600611e-01 -2.27769191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:-35.93, Z:-22.78 [[ 9.35215904e-01 3.18353594e-01 1.54990973e-01 1.38340334e+02] [-3.13921273e-01 9.47971650e-01 -5.29451140e-02 -3.59288696e+01] [-1.63782316e-01 8.60148982e-04 9.86496129e-01 -2.27818076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:-35.94, Z:-22.79 [[ 9.34620604e-01 3.19895609e-01 1.55406326e-01 1.38371059e+02] [-3.15455032e-01 9.47452590e-01 -5.31197913e-02 -3.59391831e+01] [-1.64232914e-01 6.23144043e-04 9.86421392e-01 -2.27874968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:-35.95, Z:-22.79 [[ 9.34094068e-01 3.21386288e-01 1.55496387e-01 1.38400707e+02] [-3.16955349e-01 9.46948097e-01 -5.31846662e-02 -3.59495667e+01] [-1.64339830e-01 3.94069632e-04 9.86403703e-01 -2.27933570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96587156 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:138.43, Y:-35.96, Z:-22.80 [[ 9.33443830e-01 3.23588458e-01 1.54832574e-01 1.38430496e+02] [-3.19220361e-01 9.46197922e-01 -5.29891728e-02 -3.59602754e+01] [-1.63648945e-01 3.67061175e-05 9.86518637e-01 -2.27984692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.46, Y:-35.97, Z:-22.81 [[ 9.33147008e-01 3.24714334e-01 1.54263615e-01 1.38460741e+02] [-3.20388704e-01 9.45812129e-01 -5.28251306e-02 -3.59707396e+01] [-1.63057475e-01 -1.30706959e-04 9.86616563e-01 -2.28050774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:-35.98, Z:-22.81 [[ 9.33031648e-01 3.25433386e-01 1.53443981e-01 1.38490590e+02] [-3.21157956e-01 9.45564943e-01 -5.25785599e-02 -3.59803146e+01] [-1.62202068e-01 -2.22294913e-04 9.86757538e-01 -2.28105258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:-35.99, Z:-22.82 [[ 9.32868218e-01 3.26124095e-01 1.52970464e-01 1.38521263e+02] [-3.21881093e-01 9.45326912e-01 -5.24365444e-02 -3.59904967e+01] [-1.61707917e-01 -3.21914314e-04 9.86838612e-01 -2.28166589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:-36.00, Z:-22.82 [[ 9.32987115e-01 3.25732096e-01 1.53080516e-01 1.38551999e+02] [-3.21472405e-01 9.45462084e-01 -5.25065778e-02 -3.60009673e+01] [-1.61834901e-01 -2.23200920e-04 9.86817823e-01 -2.28224651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:138.58, Y:-36.01, Z:-22.83 [[ 9.33176269e-01 3.25044452e-01 1.53388901e-01 1.38581992e+02] [-3.20752576e-01 9.45698736e-01 -5.26468011e-02 -3.60116101e+01] [-1.62172241e-01 -7.11397931e-05 9.86762463e-01 -2.28268404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:-36.02, Z:-22.83 [[ 9.33311678e-01 3.24350815e-01 1.54032015e-01 1.38612762e+02] [-3.20007907e-01 9.45936860e-01 -5.28998776e-02 -3.60226825e+01] [-1.62862679e-01 8.06108635e-05 9.86648743e-01 -2.28335751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:-36.03, Z:-22.84 [[ 9.33571351e-01 3.23444187e-01 1.54364471e-01 1.38641936e+02] [-3.19064555e-01 9.46247211e-01 -5.30473865e-02 -3.60337263e+01] [-1.63224819e-01 2.71288999e-04 9.86588863e-01 -2.28385845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.67, Y:-36.05, Z:-22.84 [[ 9.34107361e-01 3.21888476e-01 1.54373728e-01 1.38671312e+02] [-3.17482072e-01 9.46777419e-01 -5.30815673e-02 -3.60471223e+01] [-1.63243904e-01 5.72991776e-04 9.86585576e-01 -2.28445362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:-36.06, Z:-22.85 [[ 9.34324110e-01 3.21365572e-01 1.54151310e-01 1.38701777e+02] [-3.16959494e-01 9.46954955e-01 -5.30376538e-02 -3.60584230e+01] [-1.63018823e-01 6.94637606e-04 9.86622715e-01 -2.28502020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:-36.07, Z:-22.86 [[ 9.34390459e-01 3.21245934e-01 1.53998441e-01 1.38732781e+02] [-3.16841687e-01 9.46995509e-01 -5.30174653e-02 -3.60690376e+01] [-1.62867477e-01 7.45887795e-04 9.86647672e-01 -2.28559766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:-36.08, Z:-22.86 [[ 9.34286486e-01 3.21526156e-01 1.54044452e-01 1.38763542e+02] [-3.17117618e-01 9.46900417e-01 -5.30661508e-02 -3.60803265e+01] [-1.62926911e-01 7.28777740e-04 9.86637872e-01 -2.28620356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:-36.09, Z:-22.87 [[ 9.34169860e-01 3.21874976e-01 1.54023288e-01 1.38792902e+02] [-3.17466693e-01 9.46781922e-01 -5.30932233e-02 -3.60916968e+01] [-1.62915845e-01 7.00825121e-04 9.86639720e-01 -2.28671646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.82, Y:-36.10, Z:-22.87 [[ 9.33986397e-01 3.22293934e-01 1.54259623e-01 1.38823444e+02] [-3.17874278e-01 9.46639424e-01 -5.31953357e-02 -3.61033685e+01] [-1.63172775e-01 6.48553697e-04 9.86597296e-01 -2.28713681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:-36.12, Z:-22.88 [[ 9.33870344e-01 3.22499736e-01 1.54531878e-01 1.38852643e+02] [-3.18061629e-01 9.46569334e-01 -5.33225748e-02 -3.61160922e+01] [-1.63471653e-01 6.45710493e-04 9.86547820e-01 -2.28781378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:-36.13, Z:-22.88 [[ 9.33920915e-01 3.22405903e-01 1.54422011e-01 1.38882028e+02] [-3.17967743e-01 9.46601265e-01 -5.33156510e-02 -3.61283295e+01] [-1.63365351e-01 6.91383336e-04 9.86565398e-01 -2.28837670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:-36.14, Z:-22.89 [[ 9.34072397e-01 3.21881301e-01 1.54600085e-01 1.38911950e+02] [-3.17420677e-01 9.46779683e-01 -5.34073644e-02 -3.61403430e+01] [-1.63563051e-01 8.13081209e-04 9.86532547e-01 -2.28892379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:-36.15, Z:-22.89 [[ 9.34225088e-01 3.21588514e-01 1.54286463e-01 1.38941711e+02] [-3.17136484e-01 9.46879098e-01 -5.33331492e-02 -3.61519569e+01] [-1.63241955e-01 8.95299567e-04 9.86585659e-01 -2.28948472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:-36.16, Z:-22.90 [[ 9.34541054e-01 3.20618794e-01 1.54391085e-01 1.38970587e+02] [-3.16142242e-01 9.47207679e-01 -5.34012647e-02 -3.61636845e+01] [-1.63361871e-01 1.09613031e-03 9.86565607e-01 -2.29007854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53587156000003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:139.00, Y:-36.18, Z:-22.91 [[ 9.34784765e-01 3.19774321e-01 1.54666823e-01 1.39001001e+02] [-3.15265061e-01 9.47492879e-01 -5.35274201e-02 -3.61757956e+01] [-1.63662408e-01 1.27557123e-03 9.86515580e-01 -2.29057815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:-36.19, Z:-22.91 [[ 9.34713081e-01 3.19876469e-01 1.54888672e-01 1.39030187e+02] [-3.15349886e-01 9.47458376e-01 -5.36383765e-02 -3.61887193e+01] [-1.63908224e-01 1.29236729e-03 9.86474746e-01 -2.29118393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:-36.20, Z:-22.92 [[ 9.34634055e-01 3.19840757e-01 1.55438325e-01 1.39059211e+02] [-3.15275957e-01 9.47470375e-01 -5.38605618e-02 -3.62014973e+01] [-1.64500011e-01 1.33394848e-03 9.86376179e-01 -2.29170750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:-36.21, Z:-22.92 [[ 9.34609171e-01 3.19918248e-01 1.55428480e-01 1.39090363e+02] [-3.15349790e-01 9.47444189e-01 -5.38889579e-02 -3.62124343e+01] [-1.64499871e-01 1.35077580e-03 9.86376180e-01 -2.29227824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65587156000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:139.12, Y:-36.23, Z:-22.93 [[ 9.34690183e-01 3.19432061e-01 1.55940439e-01 1.39119761e+02] [-3.14824308e-01 9.47608065e-01 -5.40796659e-02 -3.62263517e+01] [-1.65045196e-01 1.45389222e-03 9.86284933e-01 -2.29266828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:-36.24, Z:-22.93 [[ 9.34551366e-01 3.19820596e-01 1.55976059e-01 1.39149277e+02] [-3.15210522e-01 9.47477059e-01 -5.41253224e-02 -3.62384770e+01] [-1.65094131e-01 1.41759885e-03 9.86276796e-01 -2.29333904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.71587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:139.18, Y:-36.25, Z:-22.94 [[ 9.34619732e-01 3.19847517e-01 1.55510523e-01 1.39178498e+02] [-3.15259912e-01 9.47467936e-01 -5.39971970e-02 -3.62493897e+01] [-1.64612103e-01 1.44061204e-03 9.86357329e-01 -2.29384018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:-36.26, Z:-22.95 [[ 9.34528471e-01 3.20397136e-01 1.54926473e-01 1.39208436e+02] [-3.15846559e-01 9.47282325e-01 -5.38251606e-02 -3.62608276e+01] [-1.64004537e-01 1.36815171e-03 9.86458636e-01 -2.29450358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:-36.27, Z:-22.95 [[ 9.34557419e-01 3.20412846e-01 1.54719224e-01 1.39238059e+02] [-3.15869225e-01 9.47276972e-01 -5.37863540e-02 -3.62715567e+01] [-1.63795797e-01 1.39539478e-03 9.86493279e-01 -2.29505588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.27, Y:-36.28, Z:-22.96 [[ 9.34620024e-01 3.19866311e-01 1.55470107e-01 1.39267517e+02] [-3.15265439e-01 9.47461454e-01 -5.40786112e-02 -3.62849008e+01] [-1.64599860e-01 1.52860132e-03 9.86359240e-01 -2.29567369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:-36.30, Z:-22.96 [[ 9.34804753e-01 3.19321834e-01 1.55478743e-01 1.39297512e+02] [-3.14707529e-01 9.47644883e-01 -5.41142027e-02 -3.62980191e+01] [-1.64618482e-01 1.65588294e-03 9.86355926e-01 -2.29620153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.33, Y:-36.31, Z:-22.97 [[ 9.35154116e-01 3.18343873e-01 1.55383262e-01 1.39327191e+02] [-3.13716421e-01 9.47973483e-01 -5.41136014e-02 -3.63107276e+01] [-1.64525945e-01 1.85827629e-03 9.86371005e-01 -2.29672392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:-36.33, Z:-22.97 [[ 9.35919134e-01 3.16248624e-01 1.55055418e-01 1.39355354e+02] [-3.11606847e-01 9.48673670e-01 -5.40318523e-02 -3.63255991e+01] [-1.64184492e-01 2.25311434e-03 9.86427076e-01 -2.29738981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:-36.34, Z:-22.98 [[ 9.36288914e-01 3.15256253e-01 1.54843679e-01 1.39384922e+02] [-3.10608749e-01 9.49003414e-01 -5.39882043e-02 -3.63387035e+01] [-1.63967298e-01 2.45275585e-03 9.86462726e-01 -2.29791705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:-36.35, Z:-22.99 [[ 9.36584457e-01 3.14299439e-01 1.55001349e-01 1.39414613e+02] [-3.09623986e-01 9.49320187e-01 -5.40755950e-02 -3.63517249e+01] [-1.64141839e-01 2.65422633e-03 9.86433177e-01 -2.29852164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:-36.36, Z:-22.99 [[ 9.36820071e-01 3.13566363e-01 1.55062216e-01 1.39444211e+02] [-3.08871782e-01 9.49562115e-01 -5.41295908e-02 -3.63646340e+01] [-1.64214424e-01 2.81534430e-03 9.86420649e-01 -2.29913370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01587156000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:139.47, Y:-36.38, Z:-23.00 [[ 9.37257069e-01 3.12477273e-01 1.54619338e-01 1.39473113e+02] [-3.07789434e-01 9.49920405e-01 -5.40082147e-02 -3.63793736e+01] [-1.63752404e-01 3.02938239e-03 9.86496819e-01 -2.29960259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04587156000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:139.50, Y:-36.39, Z:-23.00 [[ 9.37186643e-01 3.12783978e-01 1.54425970e-01 1.39503387e+02] [-3.08106977e-01 9.49819548e-01 -5.39714493e-02 -3.63926340e+01] [-1.63558210e-01 3.00160262e-03 9.86529119e-01 -2.30012464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:-36.41, Z:-23.01 [[ 9.36837037e-01 3.13759107e-01 1.54569043e-01 1.39533063e+02] [-3.09080908e-01 9.49498291e-01 -5.40554187e-02 -3.64058267e+01] [-1.63723422e-01 2.86677821e-03 9.86502115e-01 -2.30073912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:139.56, Y:-36.42, Z:-23.01 [[ 9.36404322e-01 3.15021552e-01 1.54623311e-01 1.39561931e+02] [-3.10351514e-01 9.49080735e-01 -5.41081865e-02 -3.64176602e+01] [-1.63795250e-01 2.67956098e-03 9.86490718e-01 -2.30121290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:-36.43, Z:-23.02 [[ 9.35109256e-01 3.18611579e-01 1.55104293e-01 1.39590550e+02] [-3.13955845e-01 9.47883062e-01 -5.43086387e-02 -3.64314654e+01] [-1.64324093e-01 2.08861150e-03 9.86404192e-01 -2.30179625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:-36.44, Z:-23.02 [[ 9.34308183e-01 3.20978937e-01 1.55050773e-01 1.39620910e+02] [-3.16355390e-01 9.47084823e-01 -5.43102731e-02 -3.64441144e+01] [-1.64278687e-01 1.69138487e-03 9.86412516e-01 -2.30236093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:-36.46, Z:-23.03 [[ 9.33623009e-01 3.22975953e-01 1.55030999e-01 1.39649944e+02] [-3.18375304e-01 9.46406176e-01 -5.43370470e-02 -3.64556794e+01] [-1.64271854e-01 1.37227592e-03 9.86414150e-01 -2.30289147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:-36.47, Z:-23.03 [[ 9.32446930e-01 3.26559143e-01 1.54602228e-01 1.39679998e+02] [-3.22029592e-01 9.45176465e-01 -5.42069285e-02 -3.64695034e+01] [-1.63828155e-01 7.58591717e-04 9.86488601e-01 -2.30348549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:-36.48, Z:-23.04 [[ 9.31938124e-01 3.28164254e-01 1.54271047e-01 1.39710055e+02] [-3.23670621e-01 9.44620541e-01 -5.41235965e-02 -3.64814962e+01] [-1.63489029e-01 5.06837401e-04 9.86545022e-01 -2.30406712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.74, Y:-36.49, Z:-23.05 [[ 9.31419058e-01 3.29909739e-01 1.53681823e-01 1.39740673e+02] [-3.25468690e-01 9.44012452e-01 -5.39501743e-02 -3.64933279e+01] [-1.62876243e-01 2.31598864e-04 9.86646480e-01 -2.30467682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:139.77, Y:-36.50, Z:-23.05 [[ 9.30943494e-01 3.31551473e-01 1.53028859e-01 1.39770854e+02] [-3.27164895e-01 9.43437131e-01 -5.37541693e-02 -3.65044429e+01] [-1.62195381e-01 -2.35762511e-05 9.86758662e-01 -2.30517087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.80, Y:-36.52, Z:-23.06 [[ 9.29706374e-01 3.35016796e-01 1.53002627e-01 1.39800980e+02] [-3.30672748e-01 9.42211968e-01 -5.37786363e-02 -3.65178213e+01] [-1.62177653e-01 -5.95458241e-04 9.86761397e-01 -2.30582356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.83, Y:-36.53, Z:-23.06 [[ 9.29113115e-01 3.36541178e-01 1.53260739e-01 1.39830362e+02] [-3.32197338e-01 9.41668384e-01 -5.39034607e-02 -3.65287408e+01] [-1.62461527e-01 -8.30397194e-04 9.86714530e-01 -2.30627822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:-36.54, Z:-23.07 [[ 9.28532328e-01 3.37980771e-01 1.53612220e-01 1.39860730e+02] [-3.33631187e-01 9.41152425e-01 -5.40587178e-02 -3.65402989e+01] [-1.62843320e-01 -1.05456006e-03 9.86651378e-01 -2.30689761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:139.89, Y:-36.55, Z:-23.07 [[ 9.27688538e-01 3.39957521e-01 1.54346559e-01 1.39891640e+02] [-3.35587472e-01 9.40439786e-01 -5.43512378e-02 -3.65510107e+01] [-1.63630757e-01 -1.37575121e-03 9.86520696e-01 -2.30735846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:139.92, Y:-36.56, Z:-23.08 [[ 9.27299936e-01 3.40825215e-01 1.54767571e-01 1.39922088e+02] [-3.36437382e-01 9.40125482e-01 -5.45340770e-02 -3.65618353e+01] [-1.64087526e-01 -1.50015021e-03 9.86444643e-01 -2.30787631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.49587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:139.95, Y:-36.57, Z:-23.08 [[ 9.27004951e-01 3.41460732e-01 1.55133456e-01 1.39951942e+02] [-3.37055074e-01 9.39894707e-01 -5.46975025e-02 -3.65728866e+01] [-1.64486164e-01 -1.58366286e-03 9.86378119e-01 -2.30848479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:-36.58, Z:-23.09 [[ 9.26776822e-01 3.41991035e-01 1.55328216e-01 1.39982088e+02] [-3.37576282e-01 9.39701767e-01 -5.47981989e-02 -3.65846587e+01] [-1.64702692e-01 -1.64942093e-03 9.86341879e-01 -2.30910076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:-36.60, Z:-23.10 [[ 9.26741198e-01 3.42120377e-01 1.55255919e-01 1.40011135e+02] [-3.37705851e-01 9.39654703e-01 -5.48069040e-02 -3.65960234e+01] [-1.64637513e-01 -1.63901643e-03 9.86352778e-01 -2.30959139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:-36.61, Z:-23.10 [[ 9.26824977e-01 3.42036376e-01 1.54940566e-01 1.40041904e+02] [-3.37635298e-01 9.39685348e-01 -5.47161031e-02 -3.66078353e+01] [-1.64310278e-01 -1.60115329e-03 9.86407405e-01 -2.31017961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:-36.62, Z:-23.11 [[ 9.26951579e-01 3.41955780e-01 1.54360020e-01 1.40072723e+02] [-3.37581255e-01 9.39714767e-01 -5.45440420e-02 -3.66190735e+01] [-1.63706040e-01 -1.54936324e-03 9.86507948e-01 -2.31075324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:140.10, Y:-36.63, Z:-23.11 [[ 9.27028768e-01 3.41870509e-01 1.54085103e-01 1.40102576e+02] [-3.37505007e-01 9.39745873e-01 -5.44799495e-02 -3.66299684e+01] [-1.63425928e-01 -1.50001353e-03 9.86554467e-01 -2.31121573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:-36.64, Z:-23.12 [[ 9.26932478e-01 3.42053031e-01 1.54259215e-01 1.40133075e+02] [-3.37675000e-01 9.39679445e-01 -5.45722863e-02 -3.66410416e+01] [-1.63620830e-01 -1.50465595e-03 9.86522154e-01 -2.31188606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:140.16, Y:-36.65, Z:-23.12 [[ 9.26936700e-01 3.42054101e-01 1.54231469e-01 1.40163628e+02] [-3.37672244e-01 9.39679105e-01 -5.45951868e-02 -3.66512215e+01] [-1.63602596e-01 -1.47340393e-03 9.86525225e-01 -2.31234207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:-36.66, Z:-23.13 [[ 9.26869763e-01 3.42402981e-01 1.53859160e-01 1.40193420e+02] [-3.38041729e-01 9.39551994e-01 -5.44962389e-02 -3.66621513e+01] [-1.63218355e-01 -1.49990052e-03 9.86588830e-01 -2.31299481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:-36.67, Z:-23.14 [[ 9.26810875e-01 3.42460202e-01 1.54086377e-01 1.40223494e+02] [-3.38081685e-01 9.39531165e-01 -5.46073597e-02 -3.66733348e+01] [-1.63469801e-01 -1.48308706e-03 9.86547224e-01 -2.31354998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:-36.68, Z:-23.14 [[ 9.26668849e-01 3.42694521e-01 1.54419268e-01 1.40254290e+02] [-3.38294725e-01 9.39445701e-01 -5.47581333e-02 -3.66844611e+01] [-1.63833829e-01 -1.49656734e-03 9.86486815e-01 -2.31412925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:-36.70, Z:-23.15 [[ 9.26562585e-01 3.42959644e-01 1.54468309e-01 1.40284687e+02] [-3.38555291e-01 9.39348920e-01 -5.48080376e-02 -3.66952305e+01] [-1.63896585e-01 -1.51298651e-03 9.86476366e-01 -2.31464163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:-36.70, Z:-23.15 [[ 9.26420969e-01 3.43408238e-01 1.54320998e-01 1.40314836e+02] [-3.39013125e-01 9.39184939e-01 -5.47882488e-02 -3.67047250e+01] [-1.63750693e-01 -1.55986132e-03 9.86500521e-01 -2.31516805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:140.35, Y:-36.71, Z:-23.16 [[ 9.26375843e-01 3.43581400e-01 1.54206420e-01 1.40345947e+02] [-3.39190237e-01 9.39121604e-01 -5.47777068e-02 -3.67148167e+01] [-1.63639182e-01 -1.56056791e-03 9.86519023e-01 -2.31568533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:-36.72, Z:-23.16 [[ 9.26361746e-01 3.43785766e-01 1.53835183e-01 1.40375707e+02] [-3.39413361e-01 9.39046807e-01 -5.46778184e-02 -3.67249020e+01] [-1.63255893e-01 -1.56227715e-03 9.86582522e-01 -2.31629487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:-36.74, Z:-23.17 [[ 9.26283777e-01 3.44200885e-01 1.53375730e-01 1.40405787e+02] [-3.39855483e-01 9.38894660e-01 -5.45441759e-02 -3.67353616e+01] [-1.62777808e-01 -1.60219762e-03 9.86661451e-01 -2.31680876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:-36.75, Z:-23.17 [[ 9.26082892e-01 3.44565005e-01 1.53770722e-01 1.40436717e+02] [-3.40197149e-01 9.38761024e-01 -5.47141671e-02 -3.67451203e+01] [-1.63206548e-01 -1.64250719e-03 9.86590556e-01 -2.31736530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:-36.75, Z:-23.18 [[ 9.25859911e-01 3.45062936e-01 1.53996735e-01 1.40467205e+02] [-3.40683759e-01 9.38578004e-01 -5.48261448e-02 -3.67542294e+01] [-1.63456419e-01 -1.70285695e-03 9.86549086e-01 -2.31785278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:-36.76, Z:-23.18 [[ 9.25663485e-01 3.45665746e-01 1.53825564e-01 1.40498915e+02] [-3.41299799e-01 9.38356023e-01 -5.47943593e-02 -3.67631162e+01] [-1.63283677e-01 -1.77949638e-03 9.86577556e-01 -2.31842726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:-36.77, Z:-23.19 [[ 9.25676094e-01 3.45742088e-01 1.53577920e-01 1.40530545e+02] [-3.41386208e-01 9.38327933e-01 -5.47370797e-02 -3.67725454e+01] [-1.63031365e-01 -1.76057772e-03 9.86619316e-01 -2.31897371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:-36.78, Z:-23.19 [[ 9.25591039e-01 3.45963842e-01 1.53591173e-01 1.40561346e+02] [-3.41604599e-01 9.38246181e-01 -5.47759218e-02 -3.67809918e+01] [-1.63056820e-01 -1.76734850e-03 9.86615097e-01 -2.31949185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.59, Y:-36.79, Z:-23.20 [[ 9.25551275e-01 3.45735801e-01 1.54342453e-01 1.40592327e+02] [-3.41325063e-01 9.38330351e-01 -5.50758946e-02 -3.67898405e+01] [-1.63865917e-01 -1.70538290e-03 9.86481147e-01 -2.32001301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:-36.80, Z:-23.21 [[ 9.25703524e-01 3.45109251e-01 1.54830845e-01 1.40622654e+02] [-3.40655889e-01 9.38561213e-01 -5.52848498e-02 -3.67993861e+01] [-1.64397538e-01 -1.56665874e-03 9.86392921e-01 -2.32060070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:-36.81, Z:-23.21 [[ 9.26422902e-01 3.42655460e-01 1.55973851e-01 1.40652554e+02] [-3.38095597e-01 9.39460487e-01 -5.57257549e-02 -3.68084181e+01] [-1.65626005e-01 -1.10845680e-03 9.86188013e-01 -2.32110030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:-36.82, Z:-23.22 [[ 9.26954107e-01 3.41196995e-01 1.56015043e-01 1.40684155e+02] [-3.36609331e-01 9.39991456e-01 -5.57693558e-02 -3.68179763e+01] [-1.65681144e-01 -8.20485847e-04 9.86179033e-01 -2.32168294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:-36.83, Z:-23.22 [[ 9.27597535e-01 3.39699196e-01 1.55458255e-01 1.40714578e+02] [-3.35117838e-01 9.40533991e-01 -5.56043819e-02 -3.68275539e+01] [-1.65102537e-01 -5.18346702e-04 9.86276271e-01 -2.32227893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:-36.84, Z:-23.23 [[ 9.28239106e-01 3.38193766e-01 1.54910098e-01 1.40744303e+02] [-3.33618727e-01 9.41076473e-01 -5.54402042e-02 -3.68373782e+01] [-1.64531781e-01 -2.19144280e-04 9.86371758e-01 -2.32284770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:-36.85, Z:-23.23 [[ 9.28773964e-01 3.36918608e-01 1.54482284e-01 1.40772299e+02] [-3.32346879e-01 9.41533775e-01 -5.53145686e-02 -3.68467777e+01] [-1.64086795e-01 3.30263040e-05 9.86445905e-01 -2.32340246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.80, Y:-36.86, Z:-23.24 [[ 9.29490038e-01 3.35363353e-01 1.53556800e-01 1.40803830e+02] [-3.30825440e-01 9.42088811e-01 -5.49836397e-02 -3.68554572e+01] [-1.63103641e-01 3.06249426e-04 9.86608893e-01 -2.32398158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:140.83, Y:-36.87, Z:-23.25 [[ 9.29714927e-01 3.34902519e-01 1.53200708e-01 1.40834895e+02] [-3.30373984e-01 9.42252688e-01 -5.48899152e-02 -3.68651583e+01] [-1.62736550e-01 4.18445222e-04 9.86669469e-01 -2.32451443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:140.86, Y:-36.87, Z:-23.25 [[ 9.29883530e-01 3.34669338e-01 1.52686130e-01 1.40864892e+02] [-3.30162693e-01 9.42335500e-01 -5.47394003e-02 -3.68745330e+01] [-1.62201159e-01 4.90003044e-04 9.86757591e-01 -2.32506233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:-36.88, Z:-23.26 [[ 9.30022145e-01 3.34435639e-01 1.52353578e-01 1.40895266e+02] [-3.29940462e-01 9.42418426e-01 -5.46516342e-02 -3.68838309e+01] [-1.61858273e-01 5.59620279e-04 9.86813856e-01 -2.32571963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:-36.89, Z:-23.26 [[ 9.30431663e-01 3.33736046e-01 1.51384187e-01 1.40926871e+02] [-3.29284060e-01 9.42666300e-01 -5.43346577e-02 -3.68921571e+01] [-1.60838205e-01 7.06286338e-04 9.86980533e-01 -2.32635011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:-36.90, Z:-23.27 [[ 9.30591349e-01 3.33370195e-01 1.51208644e-01 1.40957244e+02] [-3.28918474e-01 9.42795669e-01 -5.43043650e-02 -3.69018444e+01] [-1.60662311e-01 7.99855963e-04 9.87009109e-01 -2.32694158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:-36.91, Z:-23.28 [[ 9.30564314e-01 3.33450182e-01 1.51198658e-01 1.40988271e+02] [-3.28994995e-01 9.42767368e-01 -5.43321547e-02 -3.69131270e+01] [-1.60662227e-01 8.15962587e-04 9.87009110e-01 -2.32751234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:-36.92, Z:-23.28 [[ 9.30795954e-01 3.32619285e-01 1.51602454e-01 1.41019398e+02] [-3.28127031e-01 9.43060688e-01 -5.44902730e-02 -3.69221980e+01] [-1.61094830e-01 9.74462625e-04 9.86938451e-01 -2.32814715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:-36.93, Z:-23.29 [[ 9.30887996e-01 3.32422125e-01 1.51469702e-01 1.41050362e+02] [-3.27929861e-01 9.43130135e-01 -5.44752682e-02 -3.69323908e+01] [-1.60964424e-01 1.03893497e-03 9.86959662e-01 -2.32865205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.08, Y:-36.94, Z:-23.29 [[ 9.30960895e-01 3.32301293e-01 1.51286687e-01 1.41080447e+02] [-3.27813010e-01 9.43172658e-01 -5.44423371e-02 -3.69416185e+01] [-1.60780726e-01 1.08994253e-03 9.86989549e-01 -2.32908106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:-36.95, Z:-23.30 [[ 9.31022628e-01 3.32276983e-01 1.50959838e-01 1.41111798e+02] [-3.27802977e-01 9.43181187e-01 -5.43549238e-02 -3.69514696e+01] [-1.60443369e-01 1.12057970e-03 9.87044411e-01 -2.32970512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:-36.96, Z:-23.30 [[ 9.31300488e-01 3.31695710e-01 1.50523607e-01 1.41142323e+02] [-3.27234777e-01 9.43385603e-01 -5.42310296e-02 -3.69603117e+01] [-1.59990004e-01 1.24882536e-03 9.87117845e-01 -2.33028822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:-36.97, Z:-23.31 [[ 9.31474375e-01 3.31303509e-01 1.50311259e-01 1.41172876e+02] [-3.26847033e-01 9.43523295e-01 -5.41738704e-02 -3.69708436e+01] [-1.59770168e-01 1.33278298e-03 9.87153340e-01 -2.33089184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.20, Y:-36.98, Z:-23.31 [[ 9.31624866e-01 3.30832877e-01 1.50415148e-01 1.41202768e+02] [-3.26358711e-01 9.43688251e-01 -5.42445960e-02 -3.69814031e+01] [-1.59890903e-01 1.44632075e-03 9.87133632e-01 -2.33137307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:-36.99, Z:-23.32 [[ 9.31873879e-01 3.29949955e-01 1.50811474e-01 1.41233177e+02] [-3.25437346e-01 9.43997034e-01 -5.44071151e-02 -3.69917096e+01] [-1.60317209e-01 1.62088375e-03 9.87064215e-01 -2.33195401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:-37.00, Z:-23.32 [[ 9.32152505e-01 3.28733892e-01 1.51742332e-01 1.41264131e+02] [-3.24143630e-01 9.44420732e-01 -5.47757905e-02 -3.70024697e+01] [-1.61315263e-01 1.87307996e-03 9.86901149e-01 -2.33247296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:-37.01, Z:-23.33 [[ 9.32322922e-01 3.28254498e-01 1.51733165e-01 1.41293573e+02] [-3.23652978e-01 9.44587228e-01 -5.48061872e-02 -3.70136621e+01] [-1.61315587e-01 1.98817403e-03 9.86900871e-01 -2.33298554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:-37.02, Z:-23.34 [[ 9.32436139e-01 3.27903234e-01 1.51796955e-01 1.41324217e+02] [-3.23289938e-01 9.44709050e-01 -5.48491265e-02 -3.70249867e+01] [-1.61389163e-01 2.06887964e-03 9.86888676e-01 -2.33357384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:-37.04, Z:-23.34 [[ 9.32704219e-01 3.27217862e-01 1.51628860e-01 1.41353994e+02] [-3.22600556e-01 9.44946326e-01 -5.48208123e-02 -3.70358525e+01] [-1.61219483e-01 2.21604824e-03 9.86916089e-01 -2.33412457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:-37.05, Z:-23.35 [[ 9.32770894e-01 3.27173654e-01 1.51313779e-01 1.41384751e+02] [-3.22570167e-01 9.44961559e-01 -5.47370020e-02 -3.70473578e+01] [-1.60894209e-01 2.24777151e-03 9.86969098e-01 -2.33471520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:-37.06, Z:-23.35 [[ 9.32809684e-01 3.27204917e-01 1.51006744e-01 1.41415428e+02] [-3.22615458e-01 9.44950685e-01 -5.46577379e-02 -3.70593222e+01] [-1.60578207e-01 2.26815736e-03 9.87020514e-01 -2.33531235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.45, Y:-37.07, Z:-23.36 [[ 9.32776003e-01 3.27366498e-01 1.50864522e-01 1.41445930e+02] [-3.22782655e-01 9.44894718e-01 -5.46381667e-02 -3.70717352e+01] [-1.60437795e-01 2.26871994e-03 9.87043346e-01 -2.33584407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.99587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.48, Y:-37.08, Z:-23.36 [[ 9.32673564e-01 3.27669731e-01 1.50839552e-01 1.41475689e+02] [-3.23086121e-01 9.44789658e-01 -5.46613242e-02 -3.70838613e+01] [-1.60422510e-01 2.24700619e-03 9.87045880e-01 -2.33640101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:-37.10, Z:-23.37 [[ 9.32421163e-01 3.28546385e-01 1.50492686e-01 1.41505074e+02] [-3.23990058e-01 9.44485452e-01 -5.45680591e-02 -3.70962167e+01] [-1.60066291e-01 2.12227903e-03 9.87103986e-01 -2.33703878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:-37.11, Z:-23.38 [[ 9.32086154e-01 3.29382669e-01 1.50739703e-01 1.41535627e+02] [-3.24817219e-01 9.44194373e-01 -5.46878493e-02 -3.71084369e+01] [-1.60340809e-01 2.01093594e-03 9.87059664e-01 -2.33760068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.57, Y:-37.12, Z:-23.38 [[ 9.31763390e-01 3.30327554e-01 1.50667490e-01 1.41565320e+02] [-3.25773544e-01 9.43864492e-01 -5.46938656e-02 -3.71209175e+01] [-1.60276585e-01 1.87825935e-03 9.87070356e-01 -2.33811101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:-37.13, Z:-23.39 [[ 9.31586141e-01 3.30950849e-01 1.50395468e-01 1.41594501e+02] [-3.26416145e-01 9.43646279e-01 -5.46278425e-02 -3.71329752e+01] [-1.59999254e-01 1.79903225e-03 9.87115496e-01 -2.33872377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.62, Y:-37.15, Z:-23.39 [[ 9.31288907e-01 3.32075531e-01 1.49755844e-01 1.41624787e+02] [-3.27589170e-01 9.43251394e-01 -5.44255730e-02 -3.71452830e+01] [-1.59330810e-01 1.62753969e-03 9.87223908e-01 -2.33920727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:-37.16, Z:-23.40 [[ 9.30495582e-01 3.34237998e-01 1.49876391e-01 1.41654848e+02] [-3.29766969e-01 9.42487824e-01 -5.45018159e-02 -3.71587627e+01] [-1.59473251e-01 1.28941576e-03 9.87201408e-01 -2.33986257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:-37.17, Z:-23.40 [[ 9.29967454e-01 3.35530275e-01 1.50266327e-01 1.41683755e+02] [-3.31047096e-01 9.42028778e-01 -5.46772516e-02 -3.71706980e+01] [-1.59901078e-01 1.10283325e-03 9.87132427e-01 -2.34044185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:-37.18, Z:-23.41 [[ 9.29418127e-01 3.36920724e-01 1.50553548e-01 1.41714456e+02] [-3.32433320e-01 9.41532593e-01 -5.48129889e-02 -3.71828989e+01] [-1.60218705e-01 8.95169613e-04 9.87081134e-01 -2.34095315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.74, Y:-37.19, Z:-23.41 [[ 9.28212027e-01 3.39689305e-01 1.51768273e-01 1.41743495e+02] [-3.35160067e-01 9.40537597e-01 -5.52879572e-02 -3.71949357e+01] [-1.61524494e-01 4.52282320e-04 9.86868600e-01 -2.34144359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:-37.21, Z:-23.42 [[ 9.27607946e-01 3.41372792e-01 1.51684263e-01 1.41773191e+02] [-3.36866040e-01 9.39927966e-01 -5.52873364e-02 -3.72071212e+01] [-1.61445873e-01 1.87695595e-04 9.86881551e-01 -2.34199003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:-37.22, Z:-23.43 [[ 9.26969405e-01 3.43015563e-01 1.51881680e-01 1.41802870e+02] [-3.38513284e-01 9.39329718e-01 -5.53934785e-02 -3.72187483e+01] [-1.61667801e-01 -6.59064223e-05 9.86845235e-01 -2.34254321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:-37.23, Z:-23.43 [[ 9.26181847e-01 3.44996702e-01 1.52198756e-01 1.41833168e+02] [-3.40498689e-01 9.38603815e-01 -5.55294667e-02 -3.72300183e+01] [-1.62011816e-01 -3.93092728e-04 9.86788740e-01 -2.34309233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:-37.24, Z:-23.44 [[ 9.24667618e-01 3.48979203e-01 1.52326336e-01 1.41864162e+02] [-3.44521730e-01 9.37129870e-01 -5.56092195e-02 -3.72408175e+01] [-1.62156021e-01 -1.05968834e-03 9.86764563e-01 -2.34369350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:-37.25, Z:-23.44 [[ 9.23960377e-01 3.50962150e-01 1.52061798e-01 1.41894421e+02] [-3.46541448e-01 9.36388639e-01 -5.55458549e-02 -3.72522246e+01] [-1.61883433e-01 -1.37354664e-03 9.86808932e-01 -2.34428326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:-37.26, Z:-23.45 [[ 9.23307865e-01 3.52703160e-01 1.51996932e-01 1.41924469e+02] [-3.48304198e-01 9.35733814e-01 -5.55555126e-02 -3.72635633e+01] [-1.61823274e-01 -1.64632785e-03 9.86818381e-01 -2.34483258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:-37.27, Z:-23.45 [[ 9.22282167e-01 3.55386550e-01 1.51973696e-01 1.41954479e+02] [-3.51019590e-01 9.34717098e-01 -5.55805200e-02 -3.72739386e+01] [-1.61804981e-01 -2.08482198e-03 9.86820552e-01 -2.34538495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:141.99, Y:-37.28, Z:-23.46 [[ 9.21949470e-01 3.56354329e-01 1.51725959e-01 1.41985276e+02] [-3.52009643e-01 9.34348252e-01 -5.55207565e-02 -3.72843539e+01] [-1.61549947e-01 -2.22166878e-03 9.86862036e-01 -2.34589633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.02, Y:-37.30, Z:-23.46 [[ 9.21621557e-01 3.57299463e-01 1.51495216e-01 1.42015632e+02] [-3.52975485e-01 9.33986915e-01 -5.54684645e-02 -3.72950388e+01] [-1.61313402e-01 -2.35316478e-03 9.86900425e-01 -2.34646891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:-37.31, Z:-23.47 [[ 9.21352481e-01 3.57870697e-01 1.51783298e-01 1.42045100e+02] [-3.53532283e-01 9.33768001e-01 -5.56079536e-02 -3.73054792e+01] [-1.61630844e-01 -2.42576989e-03 9.86848309e-01 -2.34708007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:-37.31, Z:-23.48 [[ 9.21031484e-01 3.58326731e-01 1.52653071e-01 1.42075607e+02] [-3.53939122e-01 9.33592926e-01 -5.59584354e-02 -3.73147429e+01] [-1.62567230e-01 -2.49041302e-03 9.86694326e-01 -2.34761417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:-37.33, Z:-23.48 [[ 9.20955587e-01 3.58397532e-01 1.52944487e-01 1.42106276e+02] [-3.53988858e-01 9.33565781e-01 -5.60965320e-02 -3.73255865e+01] [-1.62888598e-01 -2.47822961e-03 9.86641355e-01 -2.34819413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:-37.34, Z:-23.49 [[ 9.20940713e-01 3.58402340e-01 1.53022765e-01 1.42136956e+02] [-3.53983677e-01 9.33564013e-01 -5.61586204e-02 -3.73371301e+01] [-1.62983927e-01 -2.44880098e-03 9.86625685e-01 -2.34881328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:142.17, Y:-37.35, Z:-23.49 [[ 9.21110872e-01 3.58222976e-01 1.52417388e-01 1.42166206e+02] [-3.53831476e-01 9.33633042e-01 -5.59699087e-02 -3.73478628e+01] [-1.62351617e-01 -2.37557797e-03 9.86730110e-01 -2.34931047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:-37.36, Z:-23.50 [[ 9.21310150e-01 3.58043002e-01 1.51633822e-01 1.42196433e+02] [-3.53689313e-01 9.33702259e-01 -5.57132051e-02 -3.73566901e+01] [-1.61528566e-01 -2.30212108e-03 9.86865352e-01 -2.34999170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.23, Y:-37.37, Z:-23.50 [[ 9.21273857e-01 3.58217044e-01 1.51443157e-01 1.42227698e+02] [-3.53871720e-01 9.33635505e-01 -5.56736054e-02 -3.73669712e+01] [-1.61335943e-01 -2.30081335e-03 9.86896864e-01 -2.35049138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:-37.38, Z:-23.51 [[ 9.21122587e-01 3.58550398e-01 1.51574379e-01 1.42258737e+02] [-3.54196553e-01 9.33507463e-01 -5.57549846e-02 -3.73774576e+01] [-1.61486786e-01 -2.32994714e-03 9.86872124e-01 -2.35115164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:142.29, Y:-37.39, Z:-23.52 [[ 9.21137316e-01 3.58849079e-01 1.50775938e-01 1.42288960e+02] [-3.54539727e-01 9.33392669e-01 -5.54951113e-02 -3.73866341e+01] [-1.60647525e-01 -2.33744215e-03 9.87009072e-01 -2.35164964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:-37.40, Z:-23.52 [[ 9.21160954e-01 3.58864094e-01 1.50595680e-01 1.42319900e+02] [-3.54560183e-01 9.33386971e-01 -5.54602441e-02 -3.73970736e+01] [-1.60466736e-01 -2.30742063e-03 9.87038552e-01 -2.35227397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:-37.41, Z:-23.53 [[ 9.21271278e-01 3.58645549e-01 1.50441360e-01 1.42349344e+02] [-3.54342253e-01 9.33471141e-01 -5.54364131e-02 -3.74071902e+01] [-1.60314691e-01 -2.23575528e-03 9.87063423e-01 -2.35281693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:-37.42, Z:-23.53 [[ 9.21356412e-01 3.58365022e-01 1.50588420e-01 1.42378113e+02] [-3.54044508e-01 9.33579052e-01 -5.55215317e-02 -3.74172441e+01] [-1.60483169e-01 -2.15988372e-03 9.87036214e-01 -2.35340296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:-37.43, Z:-23.54 [[ 9.21861420e-01 3.57014202e-01 1.50706279e-01 1.42405707e+02] [-3.52664364e-01 9.34097025e-01 -5.55931244e-02 -3.74261096e+01] [-1.60621822e-01 -1.89957726e-03 9.87014195e-01 -2.35385887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:-37.44, Z:-23.54 [[ 9.22073400e-01 3.56359110e-01 1.50959692e-01 1.42433901e+02] [-3.51986167e-01 9.34347354e-01 -5.56844653e-02 -3.74359069e+01] [-1.60892455e-01 -1.79055921e-03 9.86970320e-01 -2.35433419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:-37.45, Z:-23.55 [[ 9.22177800e-01 3.55767448e-01 1.51715614e-01 1.42464677e+02] [-3.51342671e-01 9.34572972e-01 -5.59614783e-02 -3.74468479e+01] [-1.61698584e-01 -1.69773600e-03 9.86838733e-01 -2.35488386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:-37.46, Z:-23.55 [[ 9.22294227e-01 3.55198977e-01 1.52338590e-01 1.42494439e+02] [-3.50724061e-01 9.34789397e-01 -5.62264687e-02 -3.74573211e+01] [-1.62376083e-01 -1.57146155e-03 9.86727692e-01 -2.35535181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:-37.47, Z:-23.56 [[ 9.22283881e-01 3.55089703e-01 1.52655641e-01 1.42525253e+02] [-3.50591066e-01 9.34830971e-01 -5.63645268e-02 -3.74659040e+01] [-1.62721685e-01 -1.53560955e-03 9.86670814e-01 -2.35579862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:-37.48, Z:-23.56 [[ 9.22250523e-01 3.55331171e-01 1.52294885e-01 1.42554635e+02] [-3.50851898e-01 9.34739202e-01 -5.62634026e-02 -3.74753084e+01] [-1.62348140e-01 -1.54399711e-03 9.86732333e-01 -2.35640559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:-37.49, Z:-23.57 [[ 9.22225931e-01 3.55605658e-01 1.51802336e-01 1.42583325e+02] [-3.51154602e-01 9.34634785e-01 -5.61093983e-02 -3.74853343e+01] [-1.61832563e-01 -1.56054691e-03 9.86816997e-01 -2.35696562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:-37.50, Z:-23.57 [[ 9.22118232e-01 3.56074350e-01 1.51357269e-01 1.42610602e+02] [-3.51655771e-01 9.34456192e-01 -5.59450037e-02 -3.74964521e+01] [-1.61357318e-01 -1.63774911e-03 9.86894692e-01 -2.35744078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:-37.51, Z:-23.58 [[ 9.21994879e-01 3.56253697e-01 1.51686343e-01 1.42639974e+02] [-3.51818559e-01 9.34387766e-01 -5.60642805e-02 -3.75063001e+01] [-1.61706970e-01 -1.67509098e-03 9.86837398e-01 -2.35793546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:142.67, Y:-37.52, Z:-23.58 [[ 9.21745794e-01 3.56750837e-01 1.52031349e-01 1.42671145e+02] [-3.52301657e-01 9.34197907e-01 -5.61944253e-02 -3.75163630e+01] [-1.62074777e-01 -1.76392108e-03 9.86776903e-01 -2.35846059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:-37.53, Z:-23.59 [[ 9.21661728e-01 3.57076458e-01 1.51776358e-01 1.42700682e+02] [-3.52640962e-01 9.34073453e-01 -5.61349773e-02 -3.75262663e+01] [-1.61814746e-01 -1.78510069e-03 9.86819538e-01 -2.35904181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.73, Y:-37.54, Z:-23.60 [[ 9.21613055e-01 3.57285549e-01 1.51579728e-01 1.42729540e+02] [-3.52860790e-01 9.33993470e-01 -5.60844032e-02 -3.75367723e+01] [-1.61612623e-01 -1.79842434e-03 9.86852636e-01 -2.35955715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:-37.55, Z:-23.60 [[ 9.21297823e-01 3.57988605e-01 1.51837019e-01 1.42756922e+02] [-3.53557459e-01 9.33723979e-01 -5.61841082e-02 -3.75455431e+01] [-1.61887136e-01 -1.92081386e-03 9.86807411e-01 -2.36007596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:-37.55, Z:-23.61 [[ 9.21111684e-01 3.58518340e-01 1.51716397e-01 1.42783608e+02] [-3.54101730e-01 9.33520510e-01 -5.61375202e-02 -3.75540667e+01] [-1.61756699e-01 -2.01411286e-03 9.86828614e-01 -2.36053136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:-37.56, Z:-23.61 [[ 9.20754063e-01 3.59517784e-01 1.51522009e-01 1.42815078e+02] [-3.55127051e-01 9.33135657e-01 -5.60591074e-02 -3.75640397e+01] [-1.61544835e-01 -2.19291317e-03 9.86862937e-01 -2.36112013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:-37.57, Z:-23.62 [[ 9.20236033e-01 3.60874774e-01 1.51443195e-01 1.42845401e+02] [-3.56501177e-01 9.32611201e-01 -5.60647718e-02 -3.75737861e+01] [-1.61469982e-01 -2.39685413e-03 9.86874713e-01 -2.36168545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:142.87, Y:-37.58, Z:-23.62 [[ 9.19369160e-01 3.62886491e-01 1.51900435e-01 1.42873251e+02] [-3.58507835e-01 9.31829365e-01 -5.62687084e-02 -3.75804749e+01] [-1.61964440e-01 -2.72578100e-03 9.86792830e-01 -2.36207055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:142.90, Y:-37.59, Z:-23.63 [[ 9.19396801e-01 3.62815355e-01 1.51903062e-01 1.42900385e+02] [-3.58436907e-01 9.31857078e-01 -5.62616158e-02 -3.75904197e+01] [-1.61964522e-01 -2.72091414e-03 9.86792830e-01 -2.36257005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:-37.60, Z:-23.63 [[ 9.19066280e-01 3.63595229e-01 1.52038421e-01 1.42926902e+02] [-3.59221731e-01 9.31552603e-01 -5.62982825e-02 -3.75980985e+01] [-1.62101574e-01 -2.87365176e-03 9.86769893e-01 -2.36308373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:-37.61, Z:-23.64 [[ 9.18841256e-01 3.64215479e-01 1.51913893e-01 1.42954495e+02] [-3.59859485e-01 9.31309904e-01 -5.62406832e-02 -3.76064093e+01] [-1.61962640e-01 -2.99139508e-03 9.86792356e-01 -2.36358912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.98, Y:-37.61, Z:-23.64 [[ 9.18686397e-01 3.64814811e-01 1.51411551e-01 1.42981649e+02] [-3.60496454e-01 9.31074973e-01 -5.60508881e-02 -3.76126698e+01] [-1.61423700e-01 -3.09013867e-03 9.86880358e-01 -2.36407447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:-37.62, Z:-23.65 [[ 9.18745546e-01 3.64753731e-01 1.51199658e-01 1.43007745e+02] [-3.60448394e-01 9.31098921e-01 -5.59620876e-02 -3.76202165e+01] [-1.61194219e-01 -3.08475513e-03 9.86917883e-01 -2.36459202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:-37.63, Z:-23.65 [[ 9.18786930e-01 3.64610713e-01 1.51293108e-01 1.43034632e+02] [-3.60299779e-01 9.31154979e-01 -5.59863762e-02 -3.76278169e+01] [-1.61290564e-01 -3.07132278e-03 9.86902184e-01 -2.36504116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:-37.64, Z:-23.66 [[ 9.18856508e-01 3.64345173e-01 1.51510109e-01 1.43062396e+02] [-3.60019891e-01 9.31259019e-01 -5.60563782e-02 -3.76353867e+01] [-1.61519027e-01 -3.03888522e-03 9.86864919e-01 -2.36555380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.09, Y:-37.64, Z:-23.66 [[ 9.19391800e-01 3.63023640e-01 1.51434987e-01 1.43090512e+02] [-3.58686194e-01 9.31775683e-01 -5.60204448e-02 -3.76407138e+01] [-1.61440184e-01 -2.81290139e-03 9.86878490e-01 -2.36606551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:-37.65, Z:-23.67 [[ 9.19834570e-01 3.61985957e-01 1.51230057e-01 1.43116629e+02] [-3.57647692e-01 9.32179825e-01 -5.59365979e-02 -3.76476435e+01] [-1.61221871e-01 -2.63466444e-03 9.86914671e-01 -2.36658027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:-37.66, Z:-23.67 [[ 9.20250906e-01 3.61068085e-01 1.50891045e-01 1.43143941e+02] [-3.56738776e-01 9.32536165e-01 -5.58009624e-02 -3.76556137e+01] [-1.60859303e-01 -2.47780056e-03 9.86974237e-01 -2.36705833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.17, Y:-37.66, Z:-23.67 [[ 9.20685385e-01 3.60083112e-01 1.50594072e-01 1.43170400e+02] [-3.55759144e-01 9.32917372e-01 -5.56831082e-02 -3.76637921e+01] [-1.60542373e-01 -2.30859438e-03 9.87026249e-01 -2.36747170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:-37.67, Z:-23.68 [[ 9.21425424e-01 3.57914880e-01 1.51235337e-01 1.43196208e+02] [-3.53526463e-01 9.33752183e-01 -5.59097465e-02 -3.76695597e+01] [-1.61227256e-01 -1.94903179e-03 9.86915383e-01 -2.36796710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:-37.68, Z:-23.68 [[ 9.21883214e-01 3.56699037e-01 1.51318002e-01 1.43222713e+02] [-3.52292450e-01 9.34217705e-01 -5.59223560e-02 -3.76772815e+01] [-1.61311407e-01 -1.75430850e-03 9.86901997e-01 -2.36845698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:-37.68, Z:-23.69 [[ 9.22404880e-01 3.55411835e-01 1.51167670e-01 1.43248017e+02] [-3.50998847e-01 9.34708542e-01 -5.58547233e-02 -3.76841206e+01] [-1.61149142e-01 -1.53900846e-03 9.86928865e-01 -2.36896289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:-37.69, Z:-23.69 [[ 9.22876910e-01 3.54253282e-01 1.51006029e-01 1.43274567e+02] [-3.49836701e-01 9.35148541e-01 -5.57807220e-02 -3.76907621e+01] [-1.60973572e-01 -1.34871081e-03 9.86957796e-01 -2.36942008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.30, Y:-37.70, Z:-23.70 [[ 9.23512643e-01 3.52607461e-01 1.50971442e-01 1.43300902e+02] [-3.48173003e-01 9.35770713e-01 -5.57560069e-02 -3.76966128e+01] [-1.60934638e-01 -1.07280293e-03 9.86964483e-01 -2.36985833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:-37.71, Z:-23.70 [[ 9.23720030e-01 3.52104769e-01 1.50875903e-01 1.43327457e+02] [-3.47671626e-01 9.35960061e-01 -5.57064170e-02 -3.77053571e+01] [-1.60828314e-01 -9.98137462e-04 9.86981893e-01 -2.37039331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:-37.71, Z:-23.71 [[ 9.23821280e-01 3.51966403e-01 1.50578533e-01 1.43355136e+02] [-3.47550331e-01 9.36012121e-01 -5.55884544e-02 -3.77127823e+01] [-1.60508600e-01 -9.79821860e-04 9.87033955e-01 -2.37086240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:-37.72, Z:-23.71 [[ 9.23782453e-01 3.52203787e-01 1.50261347e-01 1.43382158e+02] [-3.47810843e-01 9.35922774e-01 -5.54633041e-02 -3.77197791e+01] [-1.60167402e-01 -1.02649857e-03 9.87089332e-01 -2.37134714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:-37.73, Z:-23.72 [[ 9.23670503e-01 3.52516897e-01 1.50215306e-01 1.43410137e+02] [-3.48132574e-01 9.35804812e-01 -5.54352260e-02 -3.77268845e+01] [-1.60114060e-01 -1.09095805e-03 9.87097917e-01 -2.37184114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:-37.73, Z:-23.72 [[ 9.23557241e-01 3.52792503e-01 1.50264676e-01 1.43436329e+02] [-3.48410190e-01 9.35700879e-01 -5.54455126e-02 -3.77338235e+01] [-1.60163551e-01 -1.14663970e-03 9.87089825e-01 -2.37231611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.46, Y:-37.74, Z:-23.73 [[ 9.23266397e-01 3.53407418e-01 1.50606630e-01 1.43463946e+02] [-3.49015515e-01 9.35468644e-01 -5.55570571e-02 -3.77396192e+01] [-1.60522056e-01 -1.27008642e-03 9.87031436e-01 -2.37274298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:143.49, Y:-37.75, Z:-23.73 [[ 9.23228365e-01 3.53590644e-01 1.50409584e-01 1.43489160e+02] [-3.49214720e-01 9.35399345e-01 -5.54720071e-02 -3.77475391e+01] [-1.60307409e-01 -1.31191044e-03 9.87066266e-01 -2.37316060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:-37.76, Z:-23.74 [[ 9.23312988e-01 3.53222194e-01 1.50755456e-01 1.43515386e+02] [-3.48824147e-01 9.35538600e-01 -5.55809460e-02 -3.77552672e+01] [-1.60669972e-01 -1.26853400e-03 9.87007371e-01 -2.37368350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:143.54, Y:-37.76, Z:-23.74 [[ 9.23266541e-01 3.53215929e-01 1.51054303e-01 1.43542188e+02] [-3.48802179e-01 9.35540948e-01 -5.56792074e-02 -3.77638611e+01] [-1.60984269e-01 -1.28132101e-03 9.86956141e-01 -2.37406017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:-37.77, Z:-23.75 [[ 9.23611749e-01 3.52025391e-01 1.51721657e-01 1.43569768e+02] [-3.47557982e-01 9.35989818e-01 -5.59151975e-02 -3.77698621e+01] [-1.61693495e-01 -1.08813944e-03 9.86840428e-01 -2.37456215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:143.60, Y:-37.78, Z:-23.75 [[ 9.23861470e-01 3.51399816e-01 1.51651425e-01 1.43596066e+02] [-3.46930177e-01 9.36224968e-01 -5.58772079e-02 -3.77778352e+01] [-1.61615091e-01 -9.89656217e-04 9.86853375e-01 -2.37499345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:-37.79, Z:-23.75 [[ 9.24266964e-01 3.50298980e-01 1.51727401e-01 1.43622734e+02] [-3.45812090e-01 9.36637587e-01 -5.58930127e-02 -3.77857476e+01] [-1.61692853e-01 -8.09104583e-04 9.86840801e-01 -2.37549974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:-37.79, Z:-23.76 [[ 9.25083815e-01 3.48067174e-01 1.51885408e-01 1.43649321e+02] [-3.43542962e-01 9.37469497e-01 -5.59390395e-02 -3.77943063e+01] [-1.61858480e-01 -4.30862843e-04 9.86813887e-01 -2.37599779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-37.80, Z:-23.76 [[ 9.25524936e-01 3.46871435e-01 1.51933538e-01 1.43674801e+02] [-3.42330317e-01 9.37912658e-01 -5.59446207e-02 -3.78037636e+01] [-1.61905979e-01 -2.33314717e-04 9.86806161e-01 -2.37644726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:-37.81, Z:-23.77 [[ 9.25954986e-01 3.45572204e-01 1.52273489e-01 1.43699519e+02] [-3.40995179e-01 9.38392163e-01 -5.60574436e-02 -3.78123740e+01] [-1.62264143e-01 -1.78560817e-05 9.86747358e-01 -2.37687847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:-37.82, Z:-23.77 [[ 9.26329221e-01 3.44483618e-01 1.52463805e-01 1.43725773e+02] [-3.39882820e-01 9.38792315e-01 -5.61128963e-02 -3.78213613e+01] [-1.62461822e-01 1.59187448e-04 9.86714817e-01 -2.37727531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.75, Y:-37.83, Z:-23.78 [[ 9.26686478e-01 3.43314898e-01 1.52928261e-01 1.43750622e+02] [-3.38672044e-01 9.39220292e-01 -5.62715786e-02 -3.78304013e+01] [-1.62952197e-01 3.53584313e-04 9.86633902e-01 -2.37770920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:-37.84, Z:-23.78 [[ 9.26773488e-01 3.42993931e-01 1.53121081e-01 1.43777086e+02] [-3.38337316e-01 9.39337536e-01 -5.63280990e-02 -3.78392968e+01] [-1.63152575e-01 3.96813024e-04 9.86600770e-01 -2.37820473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:143.80, Y:-37.85, Z:-23.79 [[ 9.26813205e-01 3.43130244e-01 1.52574305e-01 1.43803983e+02] [-3.38510908e-01 9.39287765e-01 -5.61146930e-02 -3.78491357e+01] [-1.62565826e-01 3.59771857e-04 9.86697635e-01 -2.37862567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:-37.86, Z:-23.79 [[ 9.26904657e-01 3.42978178e-01 1.52360513e-01 1.43830238e+02] [-3.38371215e-01 9.39343295e-01 -5.60276245e-02 -3.78577147e+01] [-1.62335079e-01 3.77854019e-04 9.86735618e-01 -2.37921854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:-37.87, Z:-23.80 [[ 9.27169608e-01 3.42746434e-01 1.51265989e-01 1.43856131e+02] [-3.38204532e-01 9.39427867e-01 -5.56145348e-02 -3.78684469e+01] [-1.61165168e-01 4.05263573e-04 9.86927365e-01 -2.37972718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:-37.88, Z:-23.80 [[ 9.27176496e-01 3.42699939e-01 1.51329100e-01 1.43882661e+02] [-3.38154987e-01 9.39444829e-01 -5.56292843e-02 -3.78787543e+01] [-1.61229493e-01 4.05474929e-04 9.86916859e-01 -2.38015852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.91, Y:-37.89, Z:-23.81 [[ 9.27111413e-01 3.42591536e-01 1.51971926e-01 1.43909658e+02] [-3.38007587e-01 9.39484361e-01 -5.58570172e-02 -3.78886035e+01] [-1.61911389e-01 4.18014012e-04 9.86805212e-01 -2.38064093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:-37.90, Z:-23.81 [[ 9.27192273e-01 3.42316156e-01 1.52099107e-01 1.43935997e+02] [-3.37722172e-01 9.39584716e-01 -5.58953986e-02 -3.78975195e+01] [-1.62043894e-01 4.58540882e-04 9.86783444e-01 -2.38110994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:-37.91, Z:-23.82 [[ 9.27258884e-01 3.42320947e-01 1.51681676e-01 1.43961452e+02] [-3.37754083e-01 9.39582976e-01 -5.57315889e-02 -3.79067913e+01] [-1.61595611e-01 4.46505552e-04 9.86856960e-01 -2.38158282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:-37.92, Z:-23.82 [[ 9.27313173e-01 3.42318170e-01 1.51355702e-01 1.43988469e+02] [-3.37773096e-01 9.39583994e-01 -5.55990442e-02 -3.79166731e+01] [-1.61243958e-01 4.33842040e-04 9.86914483e-01 -2.38208989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:-37.93, Z:-23.83 [[ 9.27414620e-01 3.42193163e-01 1.51016431e-01 1.44014265e+02] [-3.37668297e-01 9.39629522e-01 -5.54660433e-02 -3.79258152e+01] [-1.60879598e-01 4.46558397e-04 9.86973939e-01 -2.38256574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:-37.94, Z:-23.83 [[ 9.27512775e-01 3.42020184e-01 1.50805325e-01 1.44041294e+02] [-3.37507504e-01 9.39692491e-01 -5.53778659e-02 -3.79355111e+01] [-1.60650979e-01 4.65749371e-04 9.87011168e-01 -2.38308581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.07, Y:-37.95, Z:-23.84 [[ 9.27798366e-01 3.41419296e-01 1.50409631e-01 1.44066029e+02] [-3.36923927e-01 9.39910927e-01 -5.52242402e-02 -3.79468467e+01] [-1.60226277e-01 5.60356252e-04 9.87080152e-01 -2.38365172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:144.09, Y:-37.96, Z:-23.84 [[ 9.27918219e-01 3.41237388e-01 1.50082720e-01 1.44092610e+02] [-3.36761020e-01 9.39976972e-01 -5.50936249e-02 -3.79575596e+01] [-1.59874305e-01 5.80368443e-04 9.87137209e-01 -2.38407987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:-37.97, Z:-23.85 [[ 9.28270363e-01 3.40498787e-01 1.49581783e-01 1.44118330e+02] [-3.36044230e-01 9.40244697e-01 -5.49016066e-02 -3.79670915e+01] [-1.59337409e-01 6.97439240e-04 9.87223938e-01 -2.38459244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:-37.98, Z:-23.85 [[ 9.28524929e-01 3.39925843e-01 1.49304645e-01 1.44144112e+02] [-3.35482228e-01 9.40451916e-01 -5.47893071e-02 -3.79772325e+01] [-1.59038141e-01 7.84182512e-04 9.87272128e-01 -2.38511790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:144.17, Y:-37.99, Z:-23.86 [[ 9.28669622e-01 3.39474652e-01 1.49431236e-01 1.44170527e+02] [-3.35019321e-01 9.40614817e-01 -5.48253645e-02 -3.79883909e+01] [-1.59169056e-01 8.52299350e-04 9.87250974e-01 -2.38554153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.20, Y:-38.00, Z:-23.86 [[ 9.28804374e-01 3.38874847e-01 1.49954234e-01 1.44196591e+02] [-3.34381613e-01 9.40830981e-01 -5.50091162e-02 -3.79991813e+01] [-1.59722795e-01 9.50769061e-04 9.87161448e-01 -2.38608335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.22, Y:-38.01, Z:-23.87 [[ 9.29355737e-01 3.37509635e-01 1.49616713e-01 1.44221295e+02] [-3.33020425e-01 9.41321340e-01 -5.48774204e-02 -3.80111676e+01] [-1.59359063e-01 1.17522422e-03 9.87219990e-01 -2.38656209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.25, Y:-38.02, Z:-23.87 [[ 9.29757690e-01 3.36564894e-01 1.49247142e-01 1.44247031e+02] [-3.32087507e-01 9.41659343e-01 -5.47317922e-02 -3.80223284e+01] [-1.58960766e-01 1.32419345e-03 9.87284013e-01 -2.38701444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:-38.03, Z:-23.88 [[ 9.30019512e-01 3.35815589e-01 1.49303706e-01 1.44272910e+02] [-3.31326475e-01 9.41926643e-01 -5.47445513e-02 -3.80338420e+01] [-1.59017212e-01 1.44523030e-03 9.87274753e-01 -2.38752794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:-38.05, Z:-23.88 [[ 9.30264074e-01 3.35055227e-01 1.49488287e-01 1.44299201e+02] [-3.30546473e-01 9.42197183e-01 -5.48041755e-02 -3.80455842e+01] [-1.59209869e-01 1.56952939e-03 9.87243513e-01 -2.38800633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:-38.06, Z:-23.89 [[ 9.30713089e-01 3.33785443e-01 1.49534026e-01 1.44323691e+02] [-3.29258885e-01 9.42647394e-01 -5.48131075e-02 -3.80591122e+01] [-1.59253677e-01 1.77986996e-03 9.87236090e-01 -2.38851737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:-38.07, Z:-23.89 [[ 9.30808329e-01 3.33470077e-01 1.49644787e-01 1.44350743e+02] [-3.28934597e-01 9.42758919e-01 -5.48420555e-02 -3.80715679e+01] [-1.59367142e-01 1.82409444e-03 9.87217700e-01 -2.38897707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.38, Y:-38.08, Z:-23.89 [[ 9.30777713e-01 3.33289853e-01 1.50235557e-01 1.44377091e+02] [-3.28715935e-01 9.42822574e-01 -5.50584120e-02 -3.80838799e+01] [-1.59995884e-01 1.86232137e-03 9.87115925e-01 -2.38945586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:-38.10, Z:-23.90 [[ 9.30434703e-01 3.34128836e-01 1.50496458e-01 1.44402462e+02] [-3.29549363e-01 9.42525835e-01 -5.51567588e-02 -3.80995180e+01] [-1.60276264e-01 1.72375058e-03 9.87070690e-01 -2.38989354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:-38.11, Z:-23.90 [[ 9.30087580e-01 3.35225126e-01 1.50203890e-01 1.44427987e+02] [-3.30678390e-01 9.42136816e-01 -5.50456414e-02 -3.81112853e+01] [-1.59965297e-01 1.52808702e-03 9.87121456e-01 -2.39033810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:-38.12, Z:-23.91 [[ 9.29546068e-01 3.36937018e-01 1.49724928e-01 1.44456727e+02] [-3.32442827e-01 9.41526396e-01 -5.48617609e-02 -3.81238157e+01] [-1.59454930e-01 1.22155573e-03 9.87204454e-01 -2.39089139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:-38.14, Z:-23.91 [[ 9.27911314e-01 3.41801595e-01 1.48836364e-01 1.44482747e+02] [-3.37418046e-01 9.39772046e-01 -5.45670499e-02 -3.81369027e+01] [-1.58523359e-01 4.13307661e-04 9.87355141e-01 -2.39133713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:-38.15, Z:-23.92 [[ 9.26816565e-01 3.44691630e-01 1.48992397e-01 1.44510803e+02] [-3.40335889e-01 9.38715971e-01 -5.46242552e-02 -3.81489494e+01] [-1.58690066e-01 -8.07952495e-05 9.87328444e-01 -2.39183740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:-38.16, Z:-23.92 [[ 9.25713576e-01 3.47505774e-01 1.49312131e-01 1.44536959e+02] [-3.43167456e-01 9.37677674e-01 -5.47419197e-02 -3.81604535e+01] [-1.59029784e-01 -5.63725723e-04 9.87273625e-01 -2.39235317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:-38.17, Z:-23.93 [[ 9.25726169e-01 3.47471358e-01 1.49314147e-01 1.44564122e+02] [-3.43133483e-01 9.37690427e-01 -5.47364193e-02 -3.81703255e+01] [-1.59029784e-01 -5.63747462e-04 9.87273625e-01 -2.39285272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:-38.18, Z:-23.93 [[ 9.24690211e-01 3.50123757e-01 1.49537180e-01 1.44588937e+02] [-3.45808211e-01 9.36702888e-01 -5.48122290e-02 -3.81812984e+01] [-1.59262972e-01 -1.02685314e-03 9.87235662e-01 -2.39330673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.61, Y:-38.19, Z:-23.94 [[ 9.22844627e-01 3.54380644e-01 1.50904449e-01 1.44613154e+02] [-3.50043467e-01 9.35099548e-01 -5.53028597e-02 -3.81938121e+01] [-1.60708945e-01 -1.78716947e-03 9.87000223e-01 -2.39375852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.64, Y:-38.20, Z:-23.94 [[ 9.22122788e-01 3.56095990e-01 1.51278583e-01 1.44638794e+02] [-3.51761696e-01 9.34447020e-01 -5.54299233e-02 -3.82040480e+01] [-1.61100195e-01 -2.10081557e-03 9.86935821e-01 -2.39421348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:-38.21, Z:-23.95 [[ 9.21627782e-01 3.57336997e-01 1.51368763e-01 1.44665124e+02] [-3.53016118e-01 9.33972611e-01 -5.54507126e-02 -3.82144781e+01] [-1.61188870e-01 -2.33069598e-03 9.86920826e-01 -2.39472580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:-38.22, Z:-23.95 [[ 9.21387933e-01 3.58093559e-01 1.51040658e-01 1.44690140e+02] [-3.53802909e-01 9.33682455e-01 -5.53224695e-02 -3.82248884e+01] [-1.60834632e-01 -2.46516839e-03 9.86978290e-01 -2.39521864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.72, Y:-38.24, Z:-23.96 [[ 9.21223202e-01 3.58661192e-01 1.50698249e-01 1.44715990e+02] [-3.54399296e-01 9.33464276e-01 -5.51868119e-02 -3.82380444e+01] [-1.60464800e-01 -2.56798186e-03 9.87038223e-01 -2.39572765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:-38.25, Z:-23.96 [[ 9.21227917e-01 3.58757989e-01 1.50438789e-01 1.44742511e+02] [-3.54513439e-01 9.33427023e-01 -5.50836974e-02 -3.82484802e+01] [-1.60185348e-01 -2.58793278e-03 9.87083561e-01 -2.39626722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:-38.26, Z:-23.97 [[ 9.21153258e-01 3.58923788e-01 1.50500463e-01 1.44768360e+02] [-3.54679254e-01 9.33363177e-01 -5.50981469e-02 -3.82585476e+01] [-1.60247626e-01 -2.62555468e-03 9.87073353e-01 -2.39678055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:-38.27, Z:-23.97 [[ 9.21189034e-01 3.58778971e-01 1.50626735e-01 1.44794580e+02] [-3.54527047e-01 9.33418890e-01 -5.51339097e-02 -3.82697721e+01] [-1.60378727e-01 -2.61249835e-03 9.87052095e-01 -2.39723586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:-38.28, Z:-23.98 [[ 9.21290664e-01 3.58604990e-01 1.50419325e-01 1.44820911e+02] [-3.54363853e-01 9.33485818e-01 -5.50498663e-02 -3.82798671e+01] [-1.60155463e-01 -2.58624351e-03 9.87088415e-01 -2.39770778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.85, Y:-38.29, Z:-23.98 [[ 9.21353921e-01 3.58338472e-01 1.50666824e-01 1.44847172e+02] [-3.54081078e-01 9.33588253e-01 -5.51322339e-02 -3.82899117e+01] [-1.60416777e-01 -2.55197154e-03 9.87046070e-01 -2.39818578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:-38.30, Z:-23.99 [[ 9.21433694e-01 3.57950799e-01 1.51099878e-01 1.44873045e+02] [-3.53664889e-01 9.33737103e-01 -5.52826245e-02 -3.82997541e+01] [-1.60876022e-01 -2.49944866e-03 9.86971458e-01 -2.39871043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:144.90, Y:-38.31, Z:-23.99 [[ 9.21757241e-01 3.56821454e-01 1.51796045e-01 1.44898644e+02] [-3.52482361e-01 9.34169711e-01 -5.55259936e-02 -3.83125895e+01] [-1.61616133e-01 -2.32394173e-03 9.86850964e-01 -2.39919996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:-38.32, Z:-24.00 [[ 9.22209267e-01 3.55737472e-01 1.51594585e-01 1.44925909e+02] [-3.51396758e-01 9.34583477e-01 -5.54440480e-02 -3.83230169e+01] [-1.61401320e-01 -2.13883095e-03 9.86886538e-01 -2.39976021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:-38.33, Z:-24.00 [[ 9.22660861e-01 3.54855424e-01 1.50912438e-01 1.44952579e+02] [-3.50542852e-01 9.34919093e-01 -5.51905614e-02 -3.83329058e+01] [-1.60675590e-01 -1.97910562e-03 9.87005288e-01 -2.40027567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:-38.34, Z:-24.01 [[ 9.22956737e-01 3.54215099e-01 1.50607187e-01 1.44979718e+02] [-3.49912612e-01 9.35162108e-01 -5.50726463e-02 -3.83429508e+01] [-1.60349697e-01 -1.86968406e-03 9.87058498e-01 -2.40077487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:-38.35, Z:-24.01 [[ 9.23416312e-01 3.52952983e-01 1.50753130e-01 1.45006371e+02] [-3.48626052e-01 9.35639594e-01 -5.51219243e-02 -3.83546040e+01] [-1.60506045e-01 -1.65598451e-03 9.87033468e-01 -2.40131190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:-38.37, Z:-24.02 [[ 9.23698860e-01 3.52318086e-01 1.50507081e-01 1.45032765e+02] [-3.47997624e-01 9.35879038e-01 -5.50279953e-02 -3.83657946e+01] [-1.60243780e-01 -1.54680992e-03 9.87076258e-01 -2.40182188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.06, Y:-38.38, Z:-24.02 [[ 9.23905384e-01 3.51710526e-01 1.50660370e-01 1.45059793e+02] [-3.47374196e-01 9.36107690e-01 -5.50777748e-02 -3.83778316e+01] [-1.60405764e-01 -1.44887238e-03 9.87050096e-01 -2.40227032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92587156000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:145.09, Y:-38.39, Z:-24.03 [[ 9.24000133e-01 3.51541593e-01 1.50473462e-01 1.45087514e+02] [-3.47214555e-01 9.36171184e-01 -5.50051475e-02 -3.83891563e+01] [-1.60205516e-01 -1.42181258e-03 9.87082657e-01 -2.40271012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:-38.40, Z:-24.03 [[ 9.24002658e-01 3.51381936e-01 1.50830444e-01 1.45115082e+02] [-3.47032101e-01 9.36231158e-01 -5.51356414e-02 -3.83996085e+01] [-1.60585830e-01 -1.39752683e-03 9.87020890e-01 -2.40333050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:-38.41, Z:-24.04 [[ 9.24008838e-01 3.51322911e-01 1.50930047e-01 1.45142868e+02] [-3.46966511e-01 9.36253323e-01 -5.51720509e-02 -3.84104726e+01] [-1.60691964e-01 -1.38820926e-03 9.87003630e-01 -2.40384732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:-38.42, Z:-24.04 [[ 9.24031774e-01 3.51412628e-01 1.50580361e-01 1.45170548e+02] [-3.47077679e-01 9.36219635e-01 -5.50443503e-02 -3.84208450e+01] [-1.60319570e-01 -1.40035358e-03 9.87064169e-01 -2.40434629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.20, Y:-38.43, Z:-24.05 [[ 9.24034642e-01 3.52324048e-01 1.48417470e-01 1.45198944e+02] [-3.47622668e-01 9.35876979e-01 -5.73825883e-02 -3.84293612e+01] [-1.59117759e-01 1.43022271e-03 9.87258575e-01 -2.40483275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:145.22, Y:-38.44, Z:-24.05 [[ 9.23827318e-01 3.51694640e-01 1.51175286e-01 1.45224014e+02] [-3.47835117e-01 9.36104395e-01 -5.21468517e-02 -3.84427462e+01] [-1.59855618e-01 -4.40938725e-03 9.87130558e-01 -2.40535970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:-38.45, Z:-24.06 [[ 9.23727707e-01 3.52301734e-01 1.50368254e-01 1.45250957e+02] [-3.47992733e-01 9.35885165e-01 -5.49546673e-02 -3.84510197e+01] [-1.60088042e-01 -1.56391067e-03 9.87101501e-01 -2.40586781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:-38.46, Z:-24.06 [[ 9.23592650e-01 3.53763406e-01 1.47743252e-01 1.45279528e+02] [-3.48776271e-01 9.35329397e-01 -5.92792751e-02 -3.84591879e+01] [-1.59159445e-01 3.22056243e-03 9.87247638e-01 -2.40621063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:-38.47, Z:-24.07 [[ 9.23247268e-01 3.52755065e-01 1.52244367e-01 1.45303767e+02] [-3.49193603e-01 9.35692418e-01 -5.04333909e-02 -3.84745449e+01] [-1.60244534e-01 -6.60026876e-03 9.87055280e-01 -2.40678176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.33, Y:-38.48, Z:-24.07 [[ 9.23103886e-01 3.53953471e-01 1.50320180e-01 1.45331839e+02] [-3.49668748e-01 9.35261206e-01 -5.49385294e-02 -3.84820516e+01] [-1.60034316e-01 -1.84829906e-03 9.87109721e-01 -2.40725228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:145.36, Y:-38.49, Z:-24.08 [[ 9.22968570e-01 3.54355860e-01 1.50203009e-01 1.45358029e+02] [-3.50084396e-01 9.35108669e-01 -5.48880018e-02 -3.84908815e+01] [-1.59906021e-01 -1.92382908e-03 9.87130368e-01 -2.40773815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-38.50, Z:-24.08 [[ 9.22824760e-01 3.54704631e-01 1.50263391e-01 1.45385851e+02] [-3.50436088e-01 9.34976279e-01 -5.48990495e-02 -3.85005253e+01] [-1.59965653e-01 -1.99551263e-03 9.87120564e-01 -2.40828665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:-38.51, Z:-24.09 [[ 9.22640605e-01 3.55150059e-01 1.50342107e-01 1.45413914e+02] [-3.50883541e-01 9.34806996e-01 -5.49237773e-02 -3.85102007e+01] [-1.60047036e-01 -2.07766389e-03 9.87107203e-01 -2.40879142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:-38.52, Z:-24.09 [[ 9.22480670e-01 3.55431852e-01 1.50657264e-01 1.45440366e+02] [-3.51151709e-01 9.34699759e-01 -5.50348695e-02 -3.85192548e+01] [-1.60380454e-01 -2.13495245e-03 9.87052963e-01 -2.40924752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:-38.53, Z:-24.10 [[ 9.22051279e-01 3.56288407e-01 1.51261398e-01 1.45467977e+02] [-3.51985773e-01 9.34373209e-01 -5.52514371e-02 -3.85279617e+01] [-1.61020044e-01 -2.29720178e-03 9.86948463e-01 -2.40973235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:-38.54, Z:-24.10 [[ 9.21850684e-01 3.56802585e-01 1.51272047e-01 1.45497672e+02] [-3.52507863e-01 9.34176734e-01 -5.52452312e-02 -3.85379280e+01] [-1.61026469e-01 -2.39673205e-03 9.86947178e-01 -2.41022894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:-38.55, Z:-24.11 [[ 9.21697591e-01 3.57094297e-01 1.51516379e-01 1.45526227e+02] [-3.52784431e-01 9.34065199e-01 -5.53656006e-02 -3.85474545e+01] [-1.61296917e-01 -2.42227894e-03 9.86902952e-01 -2.41076735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:-38.55, Z:-24.11 [[ 9.21491350e-01 3.57483943e-01 1.51851645e-01 1.45552737e+02] [-3.53159669e-01 9.33915956e-01 -5.54908596e-02 -3.85546071e+01] [-1.61653765e-01 -2.49352950e-03 9.86844386e-01 -2.41114492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:-38.56, Z:-24.12 [[ 9.21431591e-01 3.57544772e-01 1.52070900e-01 1.45579658e+02] [-3.53210392e-01 9.33892606e-01 -5.55609574e-02 -3.85631865e+01] [-1.61883419e-01 -2.51740075e-03 9.86806679e-01 -2.41165031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:-38.57, Z:-24.12 [[ 9.21562947e-01 3.57260369e-01 1.51943292e-01 1.45605655e+02] [-3.52930781e-01 9.34001560e-01 -5.55063107e-02 -3.85717518e+01] [-1.61745477e-01 -2.47290549e-03 9.86829411e-01 -2.41212619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:-38.58, Z:-24.13 [[ 9.21710452e-01 3.56899139e-01 1.51897488e-01 1.45632584e+02] [-3.52568970e-01 9.34139795e-01 -5.54794162e-02 -3.85806358e+01] [-1.61694044e-01 -2.41838321e-03 9.86837974e-01 -2.41257088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:-38.59, Z:-24.13 [[ 9.22027439e-01 3.56222221e-01 1.51562300e-01 1.45660602e+02] [-3.51903492e-01 9.34398432e-01 -5.53489193e-02 -3.85871989e+01] [-1.61336090e-01 -2.30208018e-03 9.86896837e-01 -2.41310012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-38.60, Z:-24.14 [[ 9.22219439e-01 3.55865429e-01 1.51231948e-01 1.45686433e+02] [-3.51562171e-01 9.34534520e-01 -5.52202123e-02 -3.85951999e+01] [-1.60982440e-01 -2.24227857e-03 9.86954723e-01 -2.41357868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:-38.60, Z:-24.14 [[ 9.22525186e-01 3.55404797e-01 1.50448368e-01 1.45713913e+02] [-3.50921597e-01 9.34712074e-01 -5.62794004e-02 -3.86034608e+01] [-1.60627875e-01 -8.76417174e-04 9.87014649e-01 -2.41408589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:-38.61, Z:-24.15 [[ 9.23483305e-01 3.52234080e-01 1.52018872e-01 1.45740179e+02] [-3.48090056e-01 9.35906852e-01 -5.39599672e-02 -3.86129670e+01] [-1.61282044e-01 -3.08512885e-03 9.86903533e-01 -2.41463228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-38.62, Z:-24.15 [[ 9.24153911e-01 3.50728528e-01 1.51423405e-01 1.45767440e+02] [-3.46349566e-01 9.36476172e-01 -5.52662461e-02 -3.86207959e+01] [-1.61187860e-01 -1.37091321e-03 9.86922790e-01 -2.41512901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:-38.63, Z:-24.16 [[ 9.24855986e-01 3.48946783e-01 1.51253258e-01 1.45798444e+02] [-3.44555768e-01 9.37141932e-01 -5.51935012e-02 -3.86312099e+01] [-1.61005365e-01 -1.06914246e-03 9.86952952e-01 -2.41566577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:-38.64, Z:-24.16 [[ 9.25465899e-01 3.47259421e-01 1.51405960e-01 1.45827115e+02] [-3.42831361e-01 9.37768811e-01 -5.52839542e-02 -3.86412324e+01] [-1.61181661e-01 -7.43297081e-04 9.86924475e-01 -2.41618159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:-38.65, Z:-24.17 [[ 9.26832234e-01 3.43624838e-01 1.51340609e-01 1.45854294e+02] [-3.39147555e-01 9.39107003e-01 -5.52898932e-02 -3.86500690e+01] [-1.61124006e-01 -8.23421831e-05 9.86934166e-01 -2.41665717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.88, Y:-38.66, Z:-24.17 [[ 9.27378157e-01 3.42182812e-01 1.51263605e-01 1.45882067e+02] [-3.37692413e-01 9.39633385e-01 -5.52533861e-02 -3.86598441e+01] [-1.61039092e-01 1.60211647e-04 9.86948015e-01 -2.41712939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:145.91, Y:-38.67, Z:-24.18 [[ 9.27912020e-01 3.40671476e-01 1.51400889e-01 1.45909542e+02] [-3.36153535e-01 9.40182307e-01 -5.52994699e-02 -3.86694006e+01] [-1.61183389e-01 4.19098980e-04 9.86924384e-01 -2.41752162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-38.68, Z:-24.18 [[ 9.28206015e-01 3.39566430e-01 1.52079691e-01 1.45938650e+02] [-3.34993612e-01 9.40581877e-01 -5.55428841e-02 -3.86802927e+01] [-1.61903900e-01 6.09514182e-04 9.86806342e-01 -2.41811163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-38.69, Z:-24.19 [[ 9.29003946e-01 3.37363131e-01 1.52111099e-01 1.45967000e+02] [-3.32758562e-01 9.41374062e-01 -5.55573107e-02 -3.86926134e+01] [-1.61936431e-01 9.96690300e-04 9.86800689e-01 -2.41869636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-38.70, Z:-24.19 [[ 9.29394995e-01 3.36446848e-01 1.51751311e-01 1.45996105e+02] [-3.31847518e-01 9.41701718e-01 -5.54535776e-02 -3.87038681e+01] [-1.61561652e-01 1.17998151e-03 9.86861915e-01 -2.41924659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-38.72, Z:-24.20 [[ 9.29633454e-01 3.35836989e-01 1.51641543e-01 1.46025175e+02] [-3.31235626e-01 9.41919241e-01 -5.54175429e-02 -3.87151947e+01] [-1.61445347e-01 1.28892047e-03 9.86880813e-01 -2.41978829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:-38.73, Z:-24.20 [[ 9.29747389e-01 3.35683879e-01 1.51281608e-01 1.46054508e+02] [-3.31102043e-01 9.41973781e-01 -5.52886301e-02 -3.87278511e+01] [-1.61062811e-01 1.31480993e-03 9.86943282e-01 -2.42034220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:-38.74, Z:-24.21 [[ 9.29634100e-01 3.36172936e-01 1.50891343e-01 1.46084774e+02] [-3.31616712e-01 9.41799440e-01 -5.51740029e-02 -3.87397711e+01] [-1.60657389e-01 1.25354351e-03 9.87009439e-01 -2.42088227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:-38.75, Z:-24.21 [[ 9.29273985e-01 3.37303669e-01 1.50585842e-01 1.46114125e+02] [-3.32775332e-01 9.41395269e-01 -5.50956133e-02 -3.87512311e+01] [-1.60344751e-01 1.08766664e-03 9.87060473e-01 -2.42143459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:-38.76, Z:-24.22 [[ 9.28741897e-01 3.38976313e-01 1.50111785e-01 1.46144922e+02] [-3.34493349e-01 9.40794546e-01 -5.49529108e-02 -3.87626164e+01] [-1.59852084e-01 8.25676822e-04 9.87140633e-01 -2.42198589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:-38.77, Z:-24.22 [[ 9.27252017e-01 3.43176892e-01 1.49777558e-01 1.46172724e+02] [-3.38762848e-01 9.39270782e-01 -5.48646533e-02 -3.87730722e+01] [-1.59509965e-01 1.34288450e-04 9.87196309e-01 -2.42249757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:-38.78, Z:-24.23 [[ 9.26225974e-01 3.45747600e-01 1.50213323e-01 1.46200047e+02] [-3.41339448e-01 9.38327506e-01 -5.50352016e-02 -3.87832236e+01] [-1.59977581e-01 -2.98699430e-04 9.87120603e-01 -2.42299443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:-38.79, Z:-24.23 [[ 9.25068352e-01 3.48594667e-01 1.50765722e-01 1.46228082e+02] [-3.44191977e-01 9.37273238e-01 -5.52336889e-02 -3.87929911e+01] [-1.60562846e-01 -7.97414354e-04 9.87025297e-01 -2.42344335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:-38.80, Z:-24.24 [[ 9.22813385e-01 3.54467477e-01 1.50891562e-01 1.46254691e+02] [-3.50136298e-01 9.35066561e-01 -5.52729534e-02 -3.88003051e+01] [-1.60686118e-01 -1.82599164e-03 9.87003869e-01 -2.42391656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:-38.81, Z:-24.24 [[ 9.21889281e-01 3.56982162e-01 1.50611718e-01 1.46282218e+02] [-3.52702269e-01 9.34108442e-01 -5.51591227e-02 -3.88084807e+01] [-1.60378500e-01 -2.27049056e-03 9.87052978e-01 -2.42444060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:-38.82, Z:-24.25 [[ 9.21902036e-01 3.56948080e-01 1.50614419e-01 1.46309385e+02] [-3.52668940e-01 9.34121461e-01 -5.51517443e-02 -3.88183442e+01] [-1.60378471e-01 -2.27252222e-03 9.87052978e-01 -2.42494005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:-38.83, Z:-24.25 [[ 9.21069281e-01 3.59338390e-01 1.50024332e-01 1.46336416e+02] [-3.55125342e-01 9.33203472e-01 -5.49296882e-02 -3.88262834e+01] [-1.59741573e-01 -2.68339382e-03 9.87155220e-01 -2.42540078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:-38.83, Z:-24.26 [[ 9.20489745e-01 3.61083696e-01 1.49389403e-01 1.46362652e+02] [-3.56930557e-01 9.32528648e-01 -5.46891099e-02 -3.88335743e+01] [-1.59057244e-01 -2.98087783e-03 9.87264862e-01 -2.42590527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.39, Y:-38.84, Z:-24.26 [[ 9.19465776e-01 3.63599730e-01 1.49592523e-01 1.46391656e+02] [-3.59469945e-01 9.31548962e-01 -5.47529937e-02 -3.88384631e+01] [-1.59260933e-01 -3.43051221e-03 9.87230564e-01 -2.42638610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:-38.85, Z:-24.27 [[ 9.19205575e-01 3.64145018e-01 1.49864993e-01 1.46417550e+02] [-3.60008553e-01 9.31335537e-01 -5.48448727e-02 -3.88451286e+01] [-1.59546081e-01 -3.53896670e-03 9.87184139e-01 -2.42689332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-38.85, Z:-24.27 [[ 9.19280344e-01 3.64052088e-01 1.49631969e-01 1.46444461e+02] [-3.59929695e-01 9.31371896e-01 -5.47449194e-02 -3.88536457e+01] [-1.59293012e-01 -3.53106048e-03 9.87225034e-01 -2.42740003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:-38.86, Z:-24.28 [[ 9.19502112e-01 3.63563702e-01 1.49456685e-01 1.46470913e+02] [-3.59445934e-01 9.31562951e-01 -5.46725598e-02 -3.88623179e+01] [-1.59105269e-01 -3.45006354e-03 9.87255595e-01 -2.42786571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:-38.87, Z:-24.28 [[ 9.20447644e-01 3.61011205e-01 1.49823379e-01 1.46498237e+02] [-3.56841153e-01 9.32556568e-01 -5.47963373e-02 -3.88675198e+01] [-1.59500868e-01 -3.02598765e-03 9.87193151e-01 -2.42834025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:-38.87, Z:-24.29 [[ 9.20853306e-01 3.59814700e-01 1.50208422e-01 1.46524457e+02] [-3.55609195e-01 9.33019470e-01 -5.49251327e-02 -3.88737697e+01] [-1.59910252e-01 -2.83750597e-03 9.87127479e-01 -2.42878947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:-38.88, Z:-24.29 [[ 9.22061376e-01 3.56516682e-01 1.50660795e-01 1.46552375e+02] [-3.52244199e-01 9.34286161e-01 -5.50762487e-02 -3.88785396e+01] [-1.60395897e-01 -2.28570950e-03 9.87050116e-01 -2.42926496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:-38.89, Z:-24.30 [[ 9.22832219e-01 3.54306278e-01 1.51154747e-01 1.46578993e+02] [-3.49978086e-01 9.35127466e-01 -5.52445661e-02 -3.88859074e+01] [-1.60922452e-01 -1.91938352e-03 9.86965187e-01 -2.42974832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:-38.89, Z:-24.30 [[ 9.23690512e-01 3.51887116e-01 1.51562842e-01 1.46604476e+02] [-3.47504994e-01 9.36041221e-01 -5.53815138e-02 -3.88936124e+01] [-1.61357109e-01 -1.51346552e-03 9.86894925e-01 -2.43028854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:-38.90, Z:-24.31 [[ 9.24844544e-01 3.48880076e-01 1.51476939e-01 1.46630867e+02] [-3.44465186e-01 9.37166842e-01 -5.53357554e-02 -3.89023003e+01] [-1.61264707e-01 -1.00156051e-03 9.86910680e-01 -2.43073911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.66, Y:-38.91, Z:-24.31 [[ 9.27103917e-01 3.42855792e-01 1.51420717e-01 1.46658206e+02] [-3.38366241e-01 9.39388048e-01 -5.53026418e-02 -3.89115002e+01] [-1.61203643e-01 3.56370375e-05 9.86921164e-01 -2.43121305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66587156000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:146.69, Y:-38.92, Z:-24.32 [[ 9.28211571e-01 3.39707504e-01 1.51730325e-01 1.46686234e+02] [-3.35159002e-01 9.40530957e-01 -5.54072492e-02 -3.89205292e+01] [-1.61529326e-01 5.75865609e-04 9.86867745e-01 -2.43169585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:-38.93, Z:-24.32 [[ 9.29149350e-01 3.36978873e-01 1.52074734e-01 1.46713104e+02] [-3.32373898e-01 9.41511625e-01 -5.55288478e-02 -3.89290653e+01] [-1.61892179e-01 1.04892074e-03 9.86807895e-01 -2.43228062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:-38.94, Z:-24.33 [[ 9.29994661e-01 3.34505537e-01 1.52367896e-01 1.46739985e+02] [-3.29850691e-01 9.42392628e-01 -5.56296324e-02 -3.89377449e+01] [-1.62198802e-01 1.47660537e-03 9.86756996e-01 -2.43279223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75587156000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:146.77, Y:-38.95, Z:-24.33 [[ 9.31362474e-01 3.30674026e-01 1.52376605e-01 1.46768356e+02] [-3.25969013e-01 9.43742615e-01 -5.56244385e-02 -3.89466381e+01] [-1.62197853e-01 2.13646299e-03 9.86755943e-01 -2.43319134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:146.79, Y:-38.96, Z:-24.34 [[ 9.31756743e-01 3.29681833e-01 1.52115947e-01 1.46794549e+02] [-3.24980548e-01 9.44089293e-01 -5.55252234e-02 -3.89559046e+01] [-1.61916694e-01 2.30127748e-03 9.86801747e-01 -2.43368771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:-38.97, Z:-24.34 [[ 9.32027048e-01 3.28909457e-01 1.52132019e-01 1.46820613e+02] [-3.24197970e-01 9.44358335e-01 -5.55248691e-02 -3.89661803e+01] [-1.61929795e-01 2.42978812e-03 9.86799289e-01 -2.43431153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:-38.98, Z:-24.35 [[ 9.32842759e-01 3.27028060e-01 1.51185432e-01 1.46848337e+02] [-3.22351926e-01 9.45010677e-01 -5.51729655e-02 -3.89773869e+01] [-1.60914955e-01 2.73278618e-03 9.86964492e-01 -2.43483336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:146.88, Y:-38.99, Z:-24.35 [[ 9.33214148e-01 3.26171503e-01 1.50743175e-01 1.46876377e+02] [-3.21511739e-01 9.45306247e-01 -5.50118177e-02 -3.89866671e+01] [-1.60441752e-01 2.87210614e-03 9.87041131e-01 -2.43530355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:-39.00, Z:-24.36 [[ 9.33501553e-01 3.25421946e-01 1.50583556e-01 1.46904045e+02] [-3.20763083e-01 9.45564167e-01 -5.49495253e-02 -3.89961741e+01] [-1.60268197e-01 2.99382140e-03 9.87068965e-01 -2.43586358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:146.93, Y:-39.01, Z:-24.36 [[ 9.33715892e-01 3.24632103e-01 1.50959035e-01 1.46930646e+02] [-3.19940196e-01 9.45835175e-01 -5.50825995e-02 -3.90063961e+01] [-1.60663946e-01 3.13363517e-03 9.87004193e-01 -2.43628578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:-39.02, Z:-24.37 [[ 9.33776134e-01 3.24141326e-01 1.51639482e-01 1.46960171e+02] [-3.19401638e-01 9.46003171e-01 -5.53226344e-02 -3.90209137e+01] [-1.61383783e-01 3.22505670e-03 9.86886454e-01 -2.43701884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:-39.03, Z:-24.38 [[ 9.33724414e-01 3.24356973e-01 1.51496775e-01 1.46990128e+02] [-3.19623675e-01 9.45929283e-01 -5.53036900e-02 -3.90335193e+01] [-1.61243373e-01 3.21644975e-03 9.86909433e-01 -2.43757550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:-39.05, Z:-24.38 [[ 9.33462636e-01 3.25226051e-01 1.51246564e-01 1.47019112e+02] [-3.20514311e-01 9.45631242e-01 -5.52460898e-02 -3.90463365e+01] [-1.60990944e-01 3.09347245e-03 9.86951035e-01 -2.43811866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.04, Y:-39.06, Z:-24.39 [[ 9.32737075e-01 3.27395679e-01 1.51041779e-01 1.47044444e+02] [-3.22719563e-01 9.44883337e-01 -5.52047288e-02 -3.90583627e+01] [-1.60790650e-01 2.74736032e-03 9.86984711e-01 -2.43853293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:-39.07, Z:-24.39 [[ 9.32010100e-01 3.29344830e-01 1.51291625e-01 1.47070807e+02] [-3.24679552e-01 9.44206638e-01 -5.52902584e-02 -3.90683315e+01] [-1.61060118e-01 2.40978213e-03 9.86941656e-01 -2.43907064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:-39.08, Z:-24.40 [[ 9.31313250e-01 3.31320877e-01 1.51268329e-01 1.47097928e+02] [-3.26684187e-01 9.43515888e-01 -5.52739613e-02 -3.90779595e+01] [-1.61037489e-01 2.06040132e-03 9.86946139e-01 -2.43956239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:-39.09, Z:-24.40 [[ 9.30597688e-01 3.33470540e-01 1.50948142e-01 1.47123440e+02] [-3.28882912e-01 9.42759028e-01 -5.51492980e-02 -3.90872659e+01] [-1.60698390e-01 1.67754472e-03 9.87002134e-01 -2.44007175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:-39.10, Z:-24.41 [[ 9.29161005e-01 3.37626389e-01 1.50559784e-01 1.47150537e+02] [-3.33118256e-01 9.41279727e-01 -5.49973034e-02 -3.90982658e+01] [-1.60287414e-01 9.47136888e-04 9.87069931e-01 -2.44062914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:-39.11, Z:-24.41 [[ 9.28490175e-01 3.39321299e-01 1.50887544e-01 1.47176855e+02] [-3.34815875e-01 9.40670308e-01 -5.51153479e-02 -3.91086132e+01] [-1.60637244e-01 6.54513763e-04 9.87013296e-01 -2.44116862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:-39.12, Z:-24.42 [[ 9.27538420e-01 3.42017913e-01 1.50652670e-01 1.47204053e+02] [-3.37563270e-01 9.39693415e-01 -5.50211222e-02 -3.91198975e+01] [-1.60385531e-01 1.79396841e-04 9.87054431e-01 -2.44171105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:-39.13, Z:-24.42 [[ 9.27211538e-01 3.42937331e-01 1.50574738e-01 1.47230195e+02] [-3.38500021e-01 9.39358285e-01 -5.49886241e-02 -3.91299819e+01] [-1.60301279e-01 1.65348071e-05 9.87068133e-01 -2.44225182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.26, Y:-39.14, Z:-24.43 [[ 9.26972112e-01 3.43663564e-01 1.50393012e-01 1.47256831e+02] [-3.39247507e-01 9.39092829e-01 -5.49161865e-02 -3.91402160e+01] [-1.60105691e-01 -1.14680915e-04 9.87099871e-01 -2.44260900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:-39.15, Z:-24.43 [[ 9.26285013e-01 3.45279536e-01 1.50924212e-01 1.47282543e+02] [-3.40854664e-01 9.38499803e-01 -5.51018885e-02 -3.91510150e+01] [-1.60667898e-01 -4.03168117e-04 9.87008442e-01 -2.44317932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:-39.16, Z:-24.44 [[ 9.26111100e-01 3.45673078e-01 1.51090547e-01 1.47308336e+02] [-3.41244539e-01 9.38354888e-01 -5.51567726e-02 -3.91610232e+01] [-1.60842765e-01 -4.77524765e-04 9.86979927e-01 -2.44363884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:-39.17, Z:-24.44 [[ 9.26007109e-01 3.45818230e-01 1.51395460e-01 1.47334568e+02] [-3.41375288e-01 9.38301385e-01 -5.52578024e-02 -3.91715416e+01] [-1.61163725e-01 -5.13550720e-04 9.86927551e-01 -2.44417089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41587156000003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:147.36, Y:-39.18, Z:-24.45 [[ 9.26005682e-01 3.45876183e-01 1.51271749e-01 1.47361779e+02] [-3.41442689e-01 9.38280013e-01 -5.52042276e-02 -3.91828690e+01] [-1.61029086e-01 -5.31204076e-04 9.86949518e-01 -2.44452733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:-39.19, Z:-24.45 [[ 9.25796413e-01 3.46369553e-01 1.51423691e-01 1.47387715e+02] [-3.41934323e-01 9.38097941e-01 -5.52555207e-02 -3.91944000e+01] [-1.61189083e-01 -6.21594496e-04 9.86923347e-01 -2.44513779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:-39.21, Z:-24.46 [[ 9.25744684e-01 3.46470138e-01 1.51509811e-01 1.47415070e+02] [-3.42031892e-01 9.38060781e-01 -5.52825034e-02 -3.92050489e+01] [-1.61279148e-01 -6.43703694e-04 9.86908619e-01 -2.44564658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.44, Y:-39.21, Z:-24.46 [[ 9.25729816e-01 3.46558100e-01 1.51399440e-01 1.47441400e+02] [-3.42128210e-01 9.38028275e-01 -5.52380655e-02 -3.92149083e+01] [-1.61160154e-01 -6.62495122e-04 9.86928045e-01 -2.44608494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:-39.22, Z:-24.47 [[ 9.25620874e-01 3.46885076e-01 1.51316695e-01 1.47466200e+02] [-3.42465070e-01 9.37907363e-01 -5.52037527e-02 -3.92249193e+01] [-1.61070401e-01 -7.22936815e-04 9.86942655e-01 -2.44667581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:-39.24, Z:-24.47 [[ 9.25520996e-01 3.47227447e-01 1.51142274e-01 1.47492905e+02] [-3.42823888e-01 9.37780611e-01 -5.51299177e-02 -3.92356029e+01] [-1.60880914e-01 -7.91285663e-04 9.86973508e-01 -2.44721621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:-39.25, Z:-24.48 [[ 9.25362240e-01 3.47743684e-01 1.50927314e-01 1.47519963e+02] [-3.43360905e-01 9.37589218e-01 -5.50431392e-02 -3.92457205e+01] [-1.60648726e-01 -8.87696419e-04 9.87011246e-01 -2.44766926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:-39.26, Z:-24.48 [[ 9.25091813e-01 3.48516329e-01 1.50802869e-01 1.47546527e+02] [-3.44151673e-01 9.37302149e-01 -5.49937058e-02 -3.92560987e+01] [-1.60514057e-01 -1.02483256e-03 9.87033022e-01 -2.44814954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:-39.27, Z:-24.49 [[ 9.24829930e-01 3.49209623e-01 1.50805305e-01 1.47571514e+02] [-3.44854945e-01 9.37043924e-01 -5.49886557e-02 -3.92660635e+01] [-1.60513762e-01 -1.15080039e-03 9.87032931e-01 -2.44864475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:-39.28, Z:-24.49 [[ 9.24423318e-01 3.50187121e-01 1.51031485e-01 1.47596626e+02] [-3.45834043e-01 9.36678816e-01 -5.50600721e-02 -3.92770172e+01] [-1.60749321e-01 -1.33301442e-03 9.86994366e-01 -2.44910462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:-39.29, Z:-24.50 [[ 9.24333156e-01 3.50131874e-01 1.51709877e-01 1.47622798e+02] [-3.45740304e-01 9.36699459e-01 -5.52970661e-02 -3.92870228e+01] [-1.61467825e-01 -1.33930725e-03 9.86877068e-01 -2.44957987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:-39.30, Z:-24.50 [[ 9.24246834e-01 3.50093367e-01 1.52323422e-01 1.47649046e+02] [-3.45666815e-01 9.36713842e-01 -5.55124357e-02 -3.92966666e+01] [-1.62117993e-01 -1.34595911e-03 9.86770462e-01 -2.44998757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.68, Y:-39.31, Z:-24.50 [[ 9.24129489e-01 3.49930591e-01 1.53405570e-01 1.47677208e+02] [-3.45440255e-01 9.36774674e-01 -5.58949043e-02 -3.93076632e+01] [-1.63265790e-01 -1.33832993e-03 9.86581213e-01 -2.45039520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:-39.32, Z:-24.51 [[ 9.24181624e-01 3.49787038e-01 1.53418886e-01 1.47703798e+02] [-3.45293938e-01 9.36828321e-01 -5.58998474e-02 -3.93182317e+01] [-1.63280199e-01 -1.31299943e-03 9.86578863e-01 -2.45095361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:-39.33, Z:-24.52 [[ 9.24317023e-01 3.49586635e-01 1.53059552e-01 1.47732084e+02] [-3.45112362e-01 9.36903172e-01 -5.57665062e-02 -3.93297179e+01] [-1.62897205e-01 -1.27681249e-03 9.86642220e-01 -2.45155273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:-39.34, Z:-24.52 [[ 9.24363462e-01 3.49671192e-01 1.52585214e-01 1.47759796e+02] [-3.45225202e-01 9.36871608e-01 -5.55981094e-02 -3.93422674e+01] [-1.62393812e-01 -1.28340029e-03 9.86725191e-01 -2.45210404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:-39.35, Z:-24.53 [[ 9.24317630e-01 3.50011761e-01 1.52081184e-01 1.47786293e+02] [-3.45599842e-01 9.36744349e-01 -5.54145630e-02 -3.93534330e+01] [-1.61856938e-01 -1.33857554e-03 9.86813326e-01 -2.45259962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:-39.36, Z:-24.53 [[ 9.24154703e-01 3.50417902e-01 1.52136053e-01 1.47811477e+02] [-3.46008519e-01 9.36592388e-01 -5.54328755e-02 -3.93634135e+01] [-1.61914141e-01 -1.41181767e-03 9.86803840e-01 -2.45306648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:-39.37, Z:-24.54 [[ 9.23831602e-01 3.51128236e-01 1.52460270e-01 1.47837693e+02] [-3.46711229e-01 9.36326098e-01 -5.55406353e-02 -3.93729936e+01] [-1.62254415e-01 -1.54949370e-03 9.86747741e-01 -2.45357140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:-39.38, Z:-24.54 [[ 9.22951635e-01 3.53231773e-01 1.52930033e-01 1.47864759e+02] [-3.48817357e-01 9.35533847e-01 -5.57034440e-02 -3.93826693e+01] [-1.62747448e-01 -1.93306517e-03 9.86665866e-01 -2.45397595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:-39.39, Z:-24.54 [[ 9.22531965e-01 3.54382784e-01 1.52799266e-01 1.47890435e+02] [-3.49992976e-01 9.35097992e-01 -5.56476596e-02 -3.93922389e+01] [-1.62602859e-01 -2.14192490e-03 9.86689274e-01 -2.45446141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.92, Y:-39.40, Z:-24.55 [[ 9.22159999e-01 3.55508202e-01 1.52429834e-01 1.47916495e+02] [-3.51156670e-01 9.34670221e-01 -5.55028858e-02 -3.94020663e+01] [-1.62203357e-01 -2.34421164e-03 9.86754567e-01 -2.45487335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.94, Y:-39.41, Z:-24.55 [[ 9.21472482e-01 3.57518998e-01 1.51883612e-01 1.47943346e+02] [-3.53227566e-01 9.33901969e-01 -5.52937451e-02 -3.94102867e+01] [-1.61612968e-01 -2.69781401e-03 9.86850531e-01 -2.45536352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:147.97, Y:-39.42, Z:-24.56 [[ 9.21284491e-01 3.58051819e-01 1.51768842e-01 1.47970404e+02] [-3.53775407e-01 9.33697528e-01 -5.52439027e-02 -3.94188893e+01] [-1.61486372e-01 -2.79673299e-03 9.86870979e-01 -2.45588205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:148.00, Y:-39.43, Z:-24.56 [[ 9.21296972e-01 3.58018590e-01 1.51771469e-01 1.47997590e+02] [-3.53742918e-01 9.33710264e-01 -5.52366852e-02 -3.94286983e+01] [-1.61486338e-01 -2.79869146e-03 9.86870979e-01 -2.45638150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:-39.44, Z:-24.57 [[ 9.21203567e-01 3.58331257e-01 1.51600456e-01 1.48024545e+02] [-3.54070445e-01 9.33590143e-01 -5.51685138e-02 -3.94369848e+01] [-1.61301294e-01 -2.85580930e-03 9.86901078e-01 -2.45695034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.05, Y:-39.45, Z:-24.57 [[ 9.21218668e-01 3.58265887e-01 1.51663182e-01 1.48052327e+02] [-3.54001968e-01 9.33615238e-01 -5.51832682e-02 -3.94455378e+01] [-1.61365340e-01 -2.85320813e-03 9.86890615e-01 -2.45737331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:-39.45, Z:-24.58 [[ 9.21659978e-01 3.57346015e-01 1.51151281e-01 1.48078957e+02] [-3.52771637e-01 9.33971737e-01 -5.69997131e-02 -3.94522898e+01] [-1.61539645e-01 -7.87530450e-04 9.86865909e-01 -2.45786963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:-39.46, Z:-24.58 [[ 9.21890877e-01 3.55791368e-01 1.53393980e-01 1.48104736e+02] [-3.51713533e-01 9.34555624e-01 -5.38829961e-02 -3.94628746e+01] [-1.62526311e-01 -4.27649596e-03 9.86694943e-01 -2.45832863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:-39.47, Z:-24.59 [[ 9.22788820e-01 3.53526604e-01 1.53230980e-01 1.48131451e+02] [-3.49110005e-01 9.35422216e-01 -5.57447965e-02 -3.94692486e+01] [-1.63042932e-01 -2.05379339e-03 9.86616838e-01 -2.45875709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:-39.48, Z:-24.59 [[ 9.23427008e-01 3.51645922e-01 1.53713069e-01 1.48158862e+02] [-3.47177150e-01 9.36131469e-01 -5.59097313e-02 -3.94780163e+01] [-1.63556070e-01 -1.73710932e-03 9.86532511e-01 -2.45925634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:-39.49, Z:-24.60 [[ 9.24043784e-01 3.49796345e-01 1.54225817e-01 1.48185219e+02] [-3.45273290e-01 9.36824687e-01 -5.60879791e-02 -3.94863716e+01] [-1.64101923e-01 -1.42230676e-03 9.86442363e-01 -2.45973787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:-39.49, Z:-24.60 [[ 9.24708414e-01 3.48020847e-01 1.54258997e-01 1.48212618e+02] [-3.43473179e-01 9.37486128e-01 -5.60886419e-02 -3.94947136e+01] [-1.64135686e-01 -1.11818884e-03 9.86437138e-01 -2.46017010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:-39.50, Z:-24.61 [[ 9.26226494e-01 3.44210891e-01 1.53698877e-01 1.48241271e+02] [-3.39645658e-01 9.38892252e-01 -5.58763418e-02 -3.95026480e+01] [-1.63539930e-01 -4.49007939e-04 9.86536614e-01 -2.46072299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:-39.51, Z:-24.61 [[ 9.26958232e-01 3.42407692e-01 1.53314740e-01 1.48268448e+02] [-3.37840873e-01 9.39551465e-01 -5.57367834e-02 -3.95121271e+01] [-1.63131792e-01 -1.30315307e-04 9.86604278e-01 -2.46121960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.30, Y:-39.52, Z:-24.62 [[ 9.27719726e-01 3.40532174e-01 1.52885408e-01 1.48296184e+02] [-3.35966082e-01 9.40232843e-01 -5.55786999e-02 -3.95217719e+01] [-1.62674218e-01 1.97144705e-04 9.86679816e-01 -2.46171722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:-39.53, Z:-24.62 [[ 9.28424302e-01 3.38746911e-01 1.52574067e-01 1.48324737e+02] [-3.34176305e-01 9.40877397e-01 -5.54609916e-02 -3.95317267e+01] [-1.62340730e-01 5.04694459e-04 9.86734631e-01 -2.46236156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.36, Y:-39.54, Z:-24.63 [[ 9.29782605e-01 3.35666917e-01 1.51102710e-01 1.48355238e+02] [-3.31143749e-01 9.41980175e-01 -5.49287545e-02 -3.95407542e+01] [-1.60773523e-01 1.03508246e-03 9.86990782e-01 -2.46288491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:-39.55, Z:-24.64 [[ 9.30295982e-01 3.34486300e-01 1.50559958e-01 1.48384206e+02] [-3.29975715e-01 9.42399768e-01 -5.47604384e-02 -3.95507983e+01] [-1.60204286e-01 1.26228606e-03 9.87083073e-01 -2.46351300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.41, Y:-39.56, Z:-24.64 [[ 9.30707395e-01 3.33551271e-01 1.50090953e-01 1.48413636e+02] [-3.29052585e-01 9.42730855e-01 -5.46162242e-02 -3.95616713e+01] [-1.59712684e-01 1.44390762e-03 9.87162486e-01 -2.46402807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:-39.57, Z:-24.65 [[ 9.31015114e-01 3.32719329e-01 1.50029014e-01 1.48441714e+02] [-3.28208930e-01 9.43024519e-01 -5.46228416e-02 -3.95725333e+01] [-1.59655114e-01 1.61382896e-03 9.87171535e-01 -2.46465885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:-39.58, Z:-24.65 [[ 9.31353082e-01 3.32139143e-01 1.49214699e-01 1.48469284e+02] [-3.27665957e-01 9.43228813e-01 -5.43546321e-02 -3.95827608e+01] [-1.58796904e-01 1.73077697e-03 9.87309753e-01 -2.46513973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:148.50, Y:-39.59, Z:-24.66 [[ 9.31360959e-01 3.32176120e-01 1.49083159e-01 1.48499414e+02] [-3.27711296e-01 9.43215806e-01 -5.43070055e-02 -3.95934699e+01] [-1.58657083e-01 1.72318936e-03 9.87332244e-01 -2.46554437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:-39.60, Z:-24.66 [[ 9.31256454e-01 3.32468570e-01 1.49084095e-01 1.48528145e+02] [-3.28002769e-01 9.43112801e-01 -5.43362425e-02 -3.96040320e+01] [-1.58668211e-01 1.70098044e-03 9.87330494e-01 -2.46617528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:148.56, Y:-39.61, Z:-24.66 [[ 9.31070049e-01 3.33027196e-01 1.49001516e-01 1.48557318e+02] [-3.28568906e-01 9.42915809e-01 -5.43346162e-02 -3.96136439e+01] [-1.58590789e-01 1.63206872e-03 9.87343050e-01 -2.46647115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:-39.62, Z:-24.67 [[ 9.30968055e-01 3.33237826e-01 1.49167799e-01 1.48585836e+02] [-3.28772199e-01 9.42841449e-01 -5.43952528e-02 -3.96234755e+01] [-1.58768140e-01 1.59801732e-03 9.87314602e-01 -2.46711378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:-39.63, Z:-24.68 [[ 9.30697318e-01 3.33752371e-01 1.49705902e-01 1.48613084e+02] [-3.29260815e-01 9.42659566e-01 -5.45917525e-02 -3.96328417e+01] [-1.59341827e-01 1.51611035e-03 9.87222307e-01 -2.46757437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:-39.64, Z:-24.68 [[ 9.30067095e-01 3.34879120e-01 1.51099878e-01 1.48640292e+02] [-3.30318380e-01 9.42260156e-01 -5.50959751e-02 -3.96430321e+01] [-1.60825886e-01 1.33188659e-03 9.86981895e-01 -2.46803723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:-39.65, Z:-24.68 [[ 9.29819812e-01 3.35378135e-01 1.51514432e-01 1.48666843e+02] [-3.30799400e-01 9.42082776e-01 -5.52431076e-02 -3.96531195e+01] [-1.61266467e-01 1.24525279e-03 9.86910115e-01 -2.46845753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:-39.66, Z:-24.69 [[ 9.29599002e-01 3.35853252e-01 1.51816629e-01 1.48695141e+02] [-3.31263469e-01 9.41913610e-01 -5.53467680e-02 -3.96629048e+01] [-1.61586541e-01 1.15899715e-03 9.86857865e-01 -2.46893253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:-39.67, Z:-24.69 [[ 9.29359824e-01 3.36407508e-01 1.52053627e-01 1.48722925e+02] [-3.31810633e-01 9.41715910e-01 -5.54332771e-02 -3.96724022e+01] [-1.61839490e-01 1.06445045e-03 9.86816521e-01 -2.46947751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:-39.68, Z:-24.70 [[ 9.29120820e-01 3.37416948e-01 1.51275594e-01 1.48750332e+02] [-3.32880883e-01 9.41354888e-01 -5.51479190e-02 -3.96815429e+01] [-1.61011862e-01 8.82326639e-04 9.86952077e-01 -2.46994949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:-39.69, Z:-24.70 [[ 9.29042548e-01 3.37820913e-01 1.50854152e-01 1.48777806e+02] [-3.33316894e-01 9.41210066e-01 -5.49860031e-02 -3.96911278e+01] [-1.60560868e-01 8.02099167e-04 9.87025615e-01 -2.47045207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:-39.70, Z:-24.71 [[ 9.28827032e-01 3.38479418e-01 1.50705103e-01 1.48804377e+02] [-3.33993590e-01 9.40973547e-01 -5.49278236e-02 -3.97001047e+01] [-1.60401453e-01 6.83908963e-04 9.87051623e-01 -2.47092727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:-39.71, Z:-24.71 [[ 9.28465917e-01 3.39767201e-01 1.50030961e-01 1.48830394e+02] [-3.35339660e-01 9.40509460e-01 -5.46741931e-02 -3.97075309e+01] [-1.59682036e-01 4.51793204e-04 9.87168397e-01 -2.47138268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:-39.72, Z:-24.72 [[ 9.28241507e-01 3.40306812e-01 1.50196469e-01 1.48859171e+02] [-3.35878343e-01 9.40314390e-01 -5.47228122e-02 -3.97177919e+01] [-1.59854447e-01 3.48244567e-04 9.87140534e-01 -2.47186940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:-39.73, Z:-24.72 [[ 9.27959844e-01 3.40790156e-01 1.50839642e-01 1.48885905e+02] [-3.36329707e-01 9.40139350e-01 -5.49575289e-02 -3.97276442e+01] [-1.60539268e-01 2.66527222e-04 9.87029418e-01 -2.47234963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.91, Y:-39.74, Z:-24.73 [[ 9.27242232e-01 3.42395463e-01 1.51615273e-01 1.48914217e+02] [-3.37911081e-01 9.39555931e-01 -5.52336376e-02 -3.97369719e+01] [-1.61362775e-01 -1.75192865e-05 9.86895159e-01 -2.47276844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:-39.75, Z:-24.73 [[ 9.26974905e-01 3.43316678e-01 1.51166078e-01 1.48943042e+02] [-3.38871890e-01 9.39219690e-01 -5.50655652e-02 -3.97467967e+01] [-1.60883084e-01 -1.81537385e-04 9.86973455e-01 -2.47325830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.97, Y:-39.76, Z:-24.74 [[ 9.26665182e-01 3.44221574e-01 1.51007114e-01 1.48969677e+02] [-3.39798060e-01 9.38888382e-01 -5.50080380e-02 -3.97560141e+01] [-1.60713779e-01 -3.37890943e-04 9.87000997e-01 -2.47380036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:-39.76, Z:-24.74 [[ 9.26232877e-01 3.45659880e-01 1.50372551e-01 1.48996526e+02] [-3.41293531e-01 9.38359685e-01 -5.47706800e-02 -3.97640288e+01] [-1.60035566e-01 -5.90774529e-04 9.87111072e-01 -2.47428243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:-39.77, Z:-24.75 [[ 9.26120875e-01 3.46135361e-01 1.49968118e-01 1.49023417e+02] [-3.41800114e-01 9.38184337e-01 -5.46153004e-02 -3.97724889e+01] [-1.59602026e-01 -6.78750106e-04 9.87181205e-01 -2.47473684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:-39.78, Z:-24.75 [[ 9.26100855e-01 3.46289525e-01 1.49735669e-01 1.49050365e+02] [-3.41971110e-01 9.38127421e-01 -5.45224869e-02 -3.97807717e+01] [-1.59351703e-01 -7.11951235e-04 9.87221620e-01 -2.47522757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:-39.79, Z:-24.76 [[ 9.26020778e-01 3.46368354e-01 1.50048264e-01 1.49076552e+02] [-3.42034096e-01 9.38098302e-01 -5.46283175e-02 -3.97900717e+01] [-1.59681542e-01 -7.34665209e-04 9.87168307e-01 -2.47574720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.33587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:149.10, Y:-39.80, Z:-24.76 [[ 9.26500490e-01 3.45379876e-01 1.49363927e-01 1.49102849e+02] [-3.41074242e-01 9.38462793e-01 -5.43686251e-02 -3.97991630e+01] [-1.58950317e-01 -5.71630399e-04 9.87286417e-01 -2.47603031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.13, Y:-39.81, Z:-24.77 [[ 9.26658651e-01 3.44981400e-01 1.49303646e-01 1.49129770e+02] [-3.40676084e-01 9.38609380e-01 -5.43344898e-02 -3.98086363e+01] [-1.58882191e-01 -5.14656601e-04 9.87297414e-01 -2.47667817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:149.16, Y:-39.82, Z:-24.77 [[ 9.26952559e-01 3.44198462e-01 1.49286208e-01 1.49156231e+02] [-3.39885341e-01 9.38896836e-01 -5.43202278e-02 -3.98161910e+01] [-1.58861287e-01 -3.87919609e-04 9.87300836e-01 -2.47697939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:-39.82, Z:-24.78 [[ 9.27473469e-01 3.42862289e-01 1.49125500e-01 1.49183151e+02] [-3.38543081e-01 9.39385662e-01 -5.42509011e-02 -3.98237256e+01] [-1.58686945e-01 -1.69134764e-04 9.87328935e-01 -2.47753754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:-39.83, Z:-24.78 [[ 9.27771716e-01 3.41969060e-01 1.49321145e-01 1.49209400e+02] [-3.37628256e-01 9.39711212e-01 -5.43138962e-02 -3.98324037e+01] [-1.58892426e-01 -2.41410342e-05 9.87295901e-01 -2.47797757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:-39.84, Z:-24.78 [[ 9.28109194e-01 3.40770721e-01 1.49962129e-01 1.49234285e+02] [-3.36378419e-01 9.40146417e-01 -5.45369000e-02 -3.98407189e+01] [-1.59570937e-01 1.72174601e-04 9.87186450e-01 -2.47840672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-39.85, Z:-24.79 [[ 9.28988139e-01 3.38139752e-01 1.50474403e-01 1.49261318e+02] [-3.33685206e-01 9.41095709e-01 -5.47087776e-02 -3.98503588e+01] [-1.60110027e-01 6.12723465e-04 9.87098984e-01 -2.47892801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.29, Y:-39.86, Z:-24.79 [[ 9.29705707e-01 3.36262071e-01 1.50250182e-01 1.49287027e+02] [-3.31797822e-01 9.41767997e-01 -5.46190910e-02 -3.98592268e+01] [-1.59867141e-01 9.26997563e-04 9.87138105e-01 -2.47930723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:-39.87, Z:-24.80 [[ 9.30370923e-01 3.34535463e-01 1.49986566e-01 1.49313870e+02] [-3.30066347e-01 9.42382383e-01 -5.45128441e-02 -3.98686399e+01] [-1.59581177e-01 1.21164719e-03 9.87184066e-01 -2.47982382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:149.34, Y:-39.88, Z:-24.80 [[ 9.31182712e-01 3.32368218e-01 1.49766903e-01 1.49340345e+02] [-3.27885685e-01 9.43148394e-01 -5.44250393e-02 -3.98771476e+01] [-1.59341567e-01 1.57323222e-03 9.87222260e-01 -2.48021320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:-39.89, Z:-24.81 [[ 9.32581976e-01 3.28655649e-01 1.49252546e-01 1.49367217e+02] [-3.24158599e-01 9.44447283e-01 -5.42266699e-02 -3.98880491e+01] [-1.58783063e-01 2.18931898e-03 9.87311068e-01 -2.48093093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:-39.90, Z:-24.81 [[ 9.33115829e-01 3.27310369e-01 1.48871664e-01 1.49394377e+02] [-3.22820110e-01 9.44913819e-01 -5.40837431e-02 -3.98990986e+01] [-1.58373063e-01 2.40762965e-03 9.87376411e-01 -2.48139534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.42, Y:-39.91, Z:-24.82 [[ 9.33528386e-01 3.26160930e-01 1.48807930e-01 1.49421680e+02] [-3.21659589e-01 9.45310672e-01 -5.40633222e-02 -3.99090170e+01] [-1.58303068e-01 2.60414828e-03 9.87387136e-01 -2.48193720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.45, Y:-39.92, Z:-24.82 [[ 9.33982609e-01 3.24866077e-01 1.48790181e-01 1.49448390e+02] [-3.20350106e-01 9.45755826e-01 -5.40530095e-02 -3.99184539e+01] [-1.58279170e-01 2.81962053e-03 9.87390376e-01 -2.48236141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.48, Y:-39.93, Z:-24.83 [[ 9.34116249e-01 3.24469453e-01 1.48816688e-01 1.49477684e+02] [-3.19948022e-01 9.45891789e-01 -5.40554001e-02 -3.99304700e+01] [-1.58303810e-01 2.88042249e-03 9.87386250e-01 -2.48292535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:-39.94, Z:-24.83 [[ 9.34241886e-01 3.24028007e-01 1.48989763e-01 1.49505647e+02] [-3.19488937e-01 9.46042834e-01 -5.41273933e-02 -3.99420692e+01] [-1.58489489e-01 2.96749678e-03 9.87356205e-01 -2.48347817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:-39.95, Z:-24.84 [[ 9.34367837e-01 3.23617198e-01 1.49092768e-01 1.49534095e+02] [-3.19061973e-01 9.46183123e-01 -5.41936784e-02 -3.99533139e+01] [-1.58607068e-01 3.06699719e-03 9.87337020e-01 -2.48394033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:-39.96, Z:-24.84 [[ 9.34487668e-01 3.23295029e-01 1.49040675e-01 1.49561530e+02] [-3.18738986e-01 9.46293077e-01 -5.41744485e-02 -3.99639036e+01] [-1.58550489e-01 3.12028034e-03 9.87345940e-01 -2.48447486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:-39.98, Z:-24.85 [[ 9.34585520e-01 3.23006655e-01 1.49052365e-01 1.49587803e+02] [-3.18445489e-01 9.46391371e-01 -5.41834283e-02 -3.99751436e+01] [-1.58563480e-01 3.17399420e-03 9.87343683e-01 -2.48497331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:-39.99, Z:-24.85 [[ 9.34670582e-01 3.22968012e-01 1.48602039e-01 1.49615042e+02] [-3.18435089e-01 9.46404590e-01 -5.40133815e-02 -3.99882369e+01] [-1.58082246e-01 3.16461513e-03 9.87420877e-01 -2.48545217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:149.64, Y:-40.00, Z:-24.86 [[ 9.34670073e-01 3.23084102e-01 1.48352678e-01 1.49642265e+02] [-3.18567966e-01 9.46365050e-01 -5.39225713e-02 -3.99991274e+01] [-1.57817315e-01 3.13940284e-03 9.87463336e-01 -2.48581167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-40.01, Z:-24.87 [[ 9.34422606e-01 3.23713684e-01 1.48539034e-01 1.49671587e+02] [-3.19194037e-01 9.46150214e-01 -5.39901740e-02 -4.00117701e+01] [-1.58017597e-01 3.03686508e-03 9.87431626e-01 -2.48652753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:-40.03, Z:-24.87 [[ 9.34011309e-01 3.24943862e-01 1.48439758e-01 1.49700121e+02] [-3.20440502e-01 9.45728988e-01 -5.39867267e-02 -4.00258378e+01] [-1.57926438e-01 2.85810261e-03 9.87446744e-01 -2.48703595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:-40.04, Z:-24.88 [[ 9.33853044e-01 3.25554376e-01 1.48097401e-01 1.49728448e+02] [-3.21074372e-01 9.45519235e-01 -5.38945638e-02 -4.00375414e+01] [-1.57574552e-01 2.77932241e-03 9.87503183e-01 -2.48752870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:-40.05, Z:-24.88 [[ 9.33841693e-01 3.25587491e-01 1.48096181e-01 1.49757912e+02] [-3.21107370e-01 9.45507838e-01 -5.38979157e-02 -4.00483152e+01] [-1.57574587e-01 2.77734558e-03 9.87503183e-01 -2.48807079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:-40.06, Z:-24.89 [[ 9.33621143e-01 3.26275086e-01 1.47973405e-01 1.49786455e+02] [-3.21810049e-01 9.45271107e-01 -5.38593140e-02 -4.00597023e+01] [-1.57447937e-01 2.66486555e-03 9.87523694e-01 -2.48855807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:-40.07, Z:-24.89 [[ 9.32959895e-01 3.27670631e-01 1.49056338e-01 1.49815050e+02] [-3.23156872e-01 9.44788842e-01 -5.42556917e-02 -4.00737484e+01] [-1.58604762e-01 2.44980464e-03 9.87339115e-01 -2.48908392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.84, Y:-40.09, Z:-24.90 [[ 9.32729823e-01 3.28283564e-01 1.49147506e-01 1.49844459e+02] [-3.23767495e-01 9.44576236e-01 -5.43170672e-02 -4.00872658e+01] [-1.58712590e-01 2.37403418e-03 9.87321973e-01 -2.48953208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.87, Y:-40.10, Z:-24.90 [[ 9.32545373e-01 3.28798813e-01 1.49165908e-01 1.49872694e+02] [-3.24282746e-01 9.44397143e-01 -5.43574908e-02 -4.01006709e+01] [-1.58744535e-01 2.31889635e-03 9.87316968e-01 -2.49015747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.90, Y:-40.11, Z:-24.91 [[ 9.32237956e-01 3.29568080e-01 1.49389672e-01 1.49902212e+02] [-3.25044965e-01 9.44129226e-01 -5.44589372e-02 -4.01133624e+01] [-1.58991083e-01 2.21032750e-03 9.87277545e-01 -2.49061905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:149.93, Y:-40.13, Z:-24.91 [[ 9.31802215e-01 3.30772350e-01 1.49446598e-01 1.49931165e+02] [-3.26256248e-01 9.43708383e-01 -5.45100735e-02 -4.01278498e+01] [-1.59064432e-01 2.03472101e-03 9.87266107e-01 -2.49116073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:-40.14, Z:-24.92 [[ 9.31581702e-01 3.31361713e-01 1.49515711e-01 1.49960230e+02] [-3.26844461e-01 9.43501758e-01 -5.45630931e-02 -4.01410180e+01] [-1.59148456e-01 1.96159709e-03 9.87252714e-01 -2.49186650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:-40.15, Z:-24.92 [[ 9.31309885e-01 3.31954499e-01 1.49893656e-01 1.49990092e+02] [-3.27416552e-01 9.43293493e-01 -5.47337826e-02 -4.01533750e+01] [-1.59562836e-01 1.89644866e-03 9.87185953e-01 -2.49238010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:-40.17, Z:-24.93 [[ 9.31062181e-01 3.32400847e-01 1.50442319e-01 1.50018094e+02] [-3.27829827e-01 9.43136376e-01 -5.49670871e-02 -4.01666518e+01] [-1.60158729e-01 1.85829670e-03 9.87089524e-01 -2.49290819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:-40.18, Z:-24.93 [[ 9.31006842e-01 3.32523356e-01 1.50514044e-01 1.50046968e+02] [-3.27945284e-01 9.43093180e-01 -5.50194923e-02 -4.01786146e+01] [-1.60244035e-01 1.86315271e-03 9.87075670e-01 -2.49345598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:-40.19, Z:-24.94 [[ 9.30987139e-01 3.32589316e-01 1.50490180e-01 1.50075605e+02] [-3.28008981e-01 9.43069890e-01 -5.50389868e-02 -4.01903878e+01] [-1.60228137e-01 1.87845828e-03 9.87078222e-01 -2.49391029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:-40.20, Z:-24.94 [[ 9.30944691e-01 3.32643296e-01 1.50633399e-01 1.50104468e+02] [-3.28050664e-01 9.43050817e-01 -5.51173101e-02 -4.02027531e+01] [-1.60389353e-01 1.89578074e-03 9.87052005e-01 -2.49445332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:-40.22, Z:-24.95 [[ 9.30778336e-01 3.33129196e-01 1.50587605e-01 1.50133206e+02] [-3.28541204e-01 9.42879399e-01 -5.51281813e-02 -4.02182947e+01] [-1.60350758e-01 1.83788364e-03 9.87058386e-01 -2.49506228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:-40.23, Z:-24.96 [[ 9.30651969e-01 3.33483830e-01 1.50583689e-01 1.50161990e+02] [-3.28895155e-01 9.42754083e-01 -5.51608160e-02 -4.02306513e+01] [-1.60358628e-01 1.80927648e-03 9.87057160e-01 -2.49558413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:-40.24, Z:-24.96 [[ 9.30342692e-01 3.34310012e-01 1.50662837e-01 1.50191982e+02] [-3.29722123e-01 9.42461635e-01 -5.52212644e-02 -4.02433898e+01] [-1.60454966e-01 1.69782916e-03 9.87041702e-01 -2.49615512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-40.26, Z:-24.97 [[ 9.30040775e-01 3.35128043e-01 1.50709495e-01 1.50221032e+02] [-3.30542436e-01 9.42171252e-01 -5.52723217e-02 -4.02560676e+01] [-1.60517458e-01 1.58962926e-03 9.87031721e-01 -2.49670628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:-40.27, Z:-24.97 [[ 9.29248333e-01 3.37134685e-01 1.51121603e-01 1.50249916e+02] [-3.32544947e-01 9.41455561e-01 -5.54552501e-02 -4.02702958e+01] [-1.60970162e-01 1.27697306e-03 9.86958447e-01 -2.49724643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:150.28, Y:-40.28, Z:-24.98 [[ 9.28698670e-01 3.38508356e-01 1.51429432e-01 1.50280708e+02] [-3.33912845e-01 9.40962776e-01 -5.55991490e-02 -4.02825375e+01] [-1.61310235e-01 1.07062325e-03 9.86903167e-01 -2.49765745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:-40.30, Z:-24.98 [[ 9.27788825e-01 3.40808745e-01 1.51846288e-01 1.50308940e+02] [-3.36212792e-01 9.40132386e-01 -5.57858040e-02 -4.02954576e+01] [-1.61767903e-01 7.04780941e-04 9.86828581e-01 -2.49835608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:-40.31, Z:-24.99 [[ 9.27500370e-01 3.41817556e-01 1.51340084e-01 1.50339005e+02] [-3.37262531e-01 9.39766173e-01 -5.56194630e-02 -4.03088194e+01] [-1.61236001e-01 5.45732704e-04 9.86915728e-01 -2.49891133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:150.37, Y:-40.32, Z:-24.99 [[ 9.27312329e-01 3.42489573e-01 1.50972636e-01 1.50367970e+02] [-3.37960195e-01 9.39521517e-01 -5.55177934e-02 -4.03214679e+01] [-1.60856305e-01 4.59592914e-04 9.86977729e-01 -2.49941553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:-40.33, Z:-25.00 [[ 9.27207305e-01 3.43190479e-01 1.50023030e-01 1.50397183e+02] [-3.38724264e-01 9.39265761e-01 -5.51878939e-02 -4.03343980e+01] [-1.59851455e-01 3.54178131e-04 9.87141017e-01 -2.50012533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:-40.35, Z:-25.01 [[ 9.27083621e-01 3.43701379e-01 1.49617248e-01 1.50427208e+02] [-3.39260904e-01 9.39078950e-01 -5.50705383e-02 -4.03472064e+01] [-1.59430228e-01 2.95711221e-04 9.87209155e-01 -2.50077470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:-40.36, Z:-25.01 [[ 9.26842788e-01 3.44352495e-01 1.49612183e-01 1.50455699e+02] [-3.39915065e-01 9.38840408e-01 -5.51038677e-02 -4.03612400e+01] [-1.59437117e-01 2.17187374e-04 9.87208062e-01 -2.50139609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:-40.37, Z:-25.02 [[ 9.26694047e-01 3.44760577e-01 1.49593742e-01 1.50484768e+02] [-3.40324242e-01 9.38690637e-01 -5.51298252e-02 -4.03743209e+01] [-1.59428835e-01 1.78104021e-04 9.87209408e-01 -2.50195260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:-40.39, Z:-25.02 [[ 9.26511999e-01 3.45302143e-01 1.49472225e-01 1.50514650e+02] [-3.40875152e-01 9.38491565e-01 -5.51154613e-02 -4.03872513e+01] [-1.59309909e-01 1.13768964e-04 9.87228616e-01 -2.50248508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:-40.40, Z:-25.03 [[ 9.25890739e-01 3.46927746e-01 1.49557611e-01 1.50544192e+02] [-3.42511521e-01 9.37891849e-01 -5.51791391e-02 -4.04006484e+01] [-1.59412039e-01 -1.35351082e-04 9.87212127e-01 -2.50304284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:-40.41, Z:-25.04 [[ 9.25416532e-01 3.48167608e-01 1.49611363e-01 1.50573349e+02] [-3.43758981e-01 9.37432246e-01 -5.52317601e-02 -4.04126623e+01] [-1.59480426e-01 -3.17865854e-04 9.87201040e-01 -2.50357583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:-40.42, Z:-25.04 [[ 9.24878653e-01 3.49494286e-01 1.49843990e-01 1.50603895e+02] [-3.45084228e-01 9.36938352e-01 -5.53479977e-02 -4.04249900e+01] [-1.59738390e-01 -5.18616150e-04 9.87159246e-01 -2.50418100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.63, Y:-40.44, Z:-25.05 [[ 9.23921107e-01 3.52091865e-01 1.49669994e-01 1.50633155e+02] [-3.47720376e-01 9.35964981e-01 -5.53181139e-02 -4.04379703e+01] [-1.59562931e-01 -9.33733365e-04 9.87187317e-01 -2.50471224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:-40.45, Z:-25.05 [[ 9.23553601e-01 3.53183698e-01 1.49365393e-01 1.50663629e+02] [-3.48841062e-01 9.35553346e-01 -5.52254526e-02 -4.04502914e+01] [-1.59244022e-01 -1.10111652e-03 9.87238638e-01 -2.50532070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:-40.46, Z:-25.06 [[ 9.23213238e-01 3.54029159e-01 1.49467962e-01 1.50693652e+02] [-3.49686132e-01 9.35233594e-01 -5.52967767e-02 -4.04624595e+01] [-1.59364131e-01 -1.21615742e-03 9.87219122e-01 -2.50590039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.72, Y:-40.47, Z:-25.06 [[ 9.23020783e-01 3.54622697e-01 1.49249376e-01 1.50722743e+02] [-3.50294776e-01 9.35008605e-01 -5.52492414e-02 -4.04742776e+01] [-1.59142086e-01 -1.28507883e-03 9.87254853e-01 -2.50644018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:-40.49, Z:-25.07 [[ 9.23104950e-01 3.54609691e-01 1.48758925e-01 1.50751664e+02] [-3.50305236e-01 9.35013586e-01 -5.50984177e-02 -4.04869720e+01] [-1.58630049e-01 -1.24940823e-03 9.87337301e-01 -2.50706109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.78, Y:-40.50, Z:-25.08 [[ 9.23249906e-01 3.54310447e-01 1.48572264e-01 1.50781823e+02] [-3.50008194e-01 9.35127127e-01 -5.50592526e-02 -4.04991906e+01] [-1.58442023e-01 -1.16805997e-03 9.87367592e-01 -2.50765557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.81, Y:-40.51, Z:-25.08 [[ 9.23422375e-01 3.54267823e-01 1.47598871e-01 1.50811516e+02] [-3.49696826e-01 9.35143686e-01 -5.67310891e-02 -4.05104111e+01] [-1.58124152e-01 7.71900416e-04 9.87418937e-01 -2.50810806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.84, Y:-40.52, Z:-25.09 [[ 9.23570458e-01 3.53021744e-01 1.49643772e-01 1.50839661e+02] [-3.48956125e-01 9.35610894e-01 -5.34965215e-02 -4.05247361e+01] [-1.58893778e-01 -2.81130388e-03 9.87291681e-01 -2.50865285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.87, Y:-40.54, Z:-25.09 [[ 9.24158068e-01 3.51418890e-01 1.49788614e-01 1.50869467e+02] [-3.46991809e-01 9.36218149e-01 -5.56081154e-02 -4.05366422e+01] [-1.59776561e-01 -5.84733871e-04 9.87153032e-01 -2.50930570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22587156000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:150.90, Y:-40.55, Z:-25.10 [[ 9.24361454e-01 3.50951532e-01 1.49629287e-01 1.50898899e+02] [-3.46522505e-01 9.36393507e-01 -5.55819602e-02 -4.05485827e+01] [-1.59618467e-01 -4.72093831e-04 9.87178668e-01 -2.50964547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:-40.56, Z:-25.10 [[ 9.24611588e-01 3.50260428e-01 1.49703183e-01 1.50928820e+02] [-3.45813058e-01 9.36652298e-01 -5.56399288e-02 -4.05602744e+01] [-1.59708295e-01 -3.23992371e-04 9.87164199e-01 -2.51040802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:-40.57, Z:-25.11 [[ 9.24793479e-01 3.49894619e-01 1.49434856e-01 1.50957729e+02] [-3.45453259e-01 9.36789039e-01 -5.55728594e-02 -4.05731929e+01] [-1.59433580e-01 -2.29340107e-04 9.87208631e-01 -2.51096706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:-40.59, Z:-25.12 [[ 9.24719321e-01 3.50143509e-01 1.49310748e-01 1.50988376e+02] [-3.45707923e-01 9.36696036e-01 -5.55568894e-02 -4.05853993e+01] [-1.59311670e-01 -2.43379540e-04 9.87228308e-01 -2.51155836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:-40.60, Z:-25.12 [[ 9.24587005e-01 3.50724610e-01 1.48765315e-01 1.51017648e+02] [-3.46323619e-01 9.36478591e-01 -5.53877146e-02 -4.05967035e+01] [-1.58741367e-01 -3.10181073e-04 9.87320152e-01 -2.51210788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:-40.61, Z:-25.13 [[ 9.24005064e-01 3.52496770e-01 1.48191324e-01 1.51047365e+02] [-3.48149362e-01 9.35812842e-01 -5.51937205e-02 -4.06071622e+01] [-1.58134952e-01 -5.93437555e-04 9.87417331e-01 -2.51265132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:-40.62, Z:-25.13 [[ 9.23421747e-01 3.54085133e-01 1.48040523e-01 1.51076642e+02] [-3.49762082e-01 9.35212821e-01 -5.51676158e-02 -4.06177799e+01] [-1.57983427e-01 -8.35985337e-04 9.87441410e-01 -2.51316687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.11, Y:-40.63, Z:-25.14 [[ 9.22856520e-01 3.55634279e-01 1.47851626e-01 1.51106641e+02] [-3.51246879e-01 9.34625044e-01 -5.56925322e-02 -4.06276171e+01] [-1.57992006e-01 -5.36205526e-04 9.87440246e-01 -2.51364488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:-40.64, Z:-25.14 [[ 9.22225930e-01 3.57016592e-01 1.48453655e-01 1.51136950e+02] [-3.52802919e-01 9.34096094e-01 -5.47228250e-02 -4.06387780e+01] [-1.58206936e-01 -1.90807473e-03 9.87404134e-01 -2.51427335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.49587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.17, Y:-40.65, Z:-25.15 [[ 9.20934424e-01 3.60056165e-01 1.49128618e-01 1.51168399e+02] [-3.55734748e-01 9.32928885e-01 -5.56460665e-02 -4.06486177e+01] [-1.59162105e-01 -1.80385316e-03 9.87250814e-01 -2.51470271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:-40.66, Z:-25.15 [[ 9.20382222e-01 3.61309730e-01 1.49505335e-01 1.51197752e+02] [-3.56977398e-01 9.32443725e-01 -5.58196756e-02 -4.06588791e+01] [-1.59573504e-01 -1.99458857e-03 9.87184035e-01 -2.51530896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.55587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:151.23, Y:-40.67, Z:-25.16 [[ 9.19847299e-01 3.62565377e-01 1.49757448e-01 1.51228220e+02] [-3.58229903e-01 9.31955773e-01 -5.59443794e-02 -4.06695897e+01] [-1.59850813e-01 -2.18730972e-03 9.87138761e-01 -2.51576041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:-40.68, Z:-25.16 [[ 9.19362326e-01 3.63799361e-01 1.49742907e-01 1.51259603e+02] [-3.59475700e-01 9.31474318e-01 -5.59715707e-02 -4.06786515e+01] [-1.59844093e-01 -2.37078268e-03 9.87139425e-01 -2.51642546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:-40.69, Z:-25.17 [[ 9.19299396e-01 3.63917921e-01 1.49841140e-01 1.51290168e+02] [-3.59584672e-01 9.31428028e-01 -5.60418822e-02 -4.06884218e+01] [-1.59960883e-01 -2.36130871e-03 9.87120530e-01 -2.51698855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:-40.70, Z:-25.18 [[ 9.19572427e-01 3.63055068e-01 1.50258344e-01 1.51320147e+02] [-3.58680580e-01 9.31765121e-01 -5.62316753e-02 -4.06975458e+01] [-1.60420679e-01 -2.18565182e-03 9.87046315e-01 -2.51754985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:-40.71, Z:-25.18 [[ 9.19774034e-01 3.62410314e-01 1.50580509e-01 1.51350854e+02] [-3.58003259e-01 9.32016400e-01 -5.63834885e-02 -4.07082053e+01] [-1.60777462e-01 -2.04824441e-03 9.86988557e-01 -2.51810731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:151.38, Y:-40.72, Z:-25.19 [[ 9.19993413e-01 3.61723519e-01 1.50891403e-01 1.51380479e+02] [-3.57283385e-01 9.32283479e-01 -5.65340359e-02 -4.07188148e+01] [-1.61123253e-01 -1.90005062e-03 9.86932463e-01 -2.51851925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:-40.73, Z:-25.19 [[ 9.20340771e-01 3.60974474e-01 1.50566579e-01 1.51410935e+02] [-3.56540346e-01 9.32574062e-01 -5.64322695e-02 -4.07292372e+01] [-1.60785095e-01 -1.74614172e-03 9.86987895e-01 -2.51917206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:-40.74, Z:-25.20 [[ 9.20613826e-01 3.60293052e-01 1.50529397e-01 1.51439503e+02] [-3.55846497e-01 9.32837807e-01 -5.64526017e-02 -4.07374804e+01] [-1.60758993e-01 -1.59431305e-03 9.86992403e-01 -2.51967344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:-40.75, Z:-25.20 [[ 9.20598458e-01 3.60425980e-01 1.50305000e-01 1.51468041e+02] [-3.55992732e-01 9.32786438e-01 -5.63794019e-02 -4.07458039e+01] [-1.60523066e-01 -1.60469693e-03 9.87030785e-01 -2.52018900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.50, Y:-40.75, Z:-25.21 [[ 9.20441913e-01 3.60975968e-01 1.49943439e-01 1.51497161e+02] [-3.56571402e-01 9.32573575e-01 -5.62437804e-02 -4.07547466e+01] [-1.60135942e-01 -1.69640924e-03 9.87093512e-01 -2.52061002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:-40.76, Z:-25.21 [[ 9.20210808e-01 3.61882062e-01 1.49175874e-01 1.51526475e+02] [-3.57534616e-01 9.32222061e-01 -5.59555840e-02 -4.07627082e+01] [-1.59314362e-01 -1.84460553e-03 9.87226180e-01 -2.52127663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:151.55, Y:-40.77, Z:-25.22 [[ 9.20012892e-01 3.62290679e-01 1.49404626e-01 1.51553834e+02] [-3.57934427e-01 9.32063195e-01 -5.60459291e-02 -4.07719348e+01] [-1.59559471e-01 -1.91408198e-03 9.87186462e-01 -2.52169019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:-40.78, Z:-25.22 [[ 9.20046686e-01 3.62266452e-01 1.49255196e-01 1.51580365e+02] [-3.57918931e-01 9.32072621e-01 -5.59881008e-02 -4.07801198e+01] [-1.59399292e-01 -1.90959353e-03 9.87212348e-01 -2.52220392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:-40.79, Z:-25.23 [[ 9.20059391e-01 3.62233361e-01 1.49257188e-01 1.51607456e+02] [-3.57886270e-01 9.32085482e-01 -5.59827880e-02 -4.07901934e+01] [-1.59399292e-01 -1.90960853e-03 9.87212348e-01 -2.52270338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:-40.80, Z:-25.23 [[ 9.20053358e-01 3.61982044e-01 1.49902696e-01 1.51633335e+02] [-3.57594675e-01 9.32183172e-01 -5.62190588e-02 -4.07980260e+01] [-1.60087061e-01 -1.87987204e-03 9.87101109e-01 -2.52322639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:-40.81, Z:-25.24 [[ 9.20199690e-01 3.61261424e-01 1.50740556e-01 1.51661332e+02] [-3.56816642e-01 9.32462887e-01 -5.65229886e-02 -4.08051728e+01] [-1.60979549e-01 -1.77430235e-03 9.86956147e-01 -2.52367403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:-40.81, Z:-25.24 [[ 9.20354304e-01 3.60710894e-01 1.51114545e-01 1.51688759e+02] [-3.56237853e-01 9.32676147e-01 -5.66550699e-02 -4.08138387e+01] [-1.61377033e-01 -1.68998376e-03 9.86891381e-01 -2.52421926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:-40.82, Z:-25.25 [[ 9.20610199e-01 3.60077775e-01 1.51065738e-01 1.51717806e+02] [-3.55600606e-01 9.32920939e-01 -5.66280039e-02 -4.08230613e+01] [-1.61322876e-01 -1.58674987e-03 9.86900406e-01 -2.52476063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:-40.83, Z:-25.25 [[ 9.21213135e-01 3.58823291e-01 1.50373556e-01 1.51746320e+02] [-3.54253710e-01 9.33405261e-01 -5.70870143e-02 -4.08313574e+01] [-1.60843619e-01 -6.81082687e-04 9.86979669e-01 -2.52525820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.78, Y:-40.84, Z:-25.26 [[ 9.21265074e-01 3.58479000e-01 1.50875675e-01 1.51776149e+02] [-3.54089365e-01 9.33535917e-01 -5.59590306e-02 -4.08426019e+01] [-1.60907999e-01 -1.87037164e-03 9.86967638e-01 -2.52579441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:-40.85, Z:-25.26 [[ 9.21557664e-01 3.58240363e-01 1.49650641e-01 1.51805788e+02] [-3.53818491e-01 9.33628588e-01 -5.61260700e-02 -4.08515429e+01] [-1.59824740e-01 -1.22575391e-03 9.87144645e-01 -2.52638716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:-40.86, Z:-25.27 [[ 9.21833657e-01 3.57919352e-01 1.48715994e-01 1.51831332e+02] [-3.53543821e-01 9.33751815e-01 -5.58060427e-02 -4.08588043e+01] [-1.58837892e-01 -1.13373247e-03 9.87304025e-01 -2.52685380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:-40.86, Z:-25.27 [[ 9.22281788e-01 3.57497640e-01 1.46941285e-01 1.51858194e+02] [-3.53224111e-01 9.33913434e-01 -5.51219132e-02 -4.08644618e+01] [-1.56936394e-01 -1.06526805e-03 9.87608138e-01 -2.52742310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-40.87, Z:-25.28 [[ 9.22395659e-01 3.57157373e-01 1.47053930e-01 1.51884369e+02] [-3.52874756e-01 9.34043667e-01 -5.51528254e-02 -4.08723405e+01] [-1.57053030e-01 -1.01889287e-03 9.87589645e-01 -2.52789924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:-40.88, Z:-25.28 [[ 9.22596581e-01 3.56570265e-01 1.47218187e-01 1.51911258e+02] [-3.52272438e-01 9.34268045e-01 -5.52028062e-02 -4.08811830e+01] [-1.57224927e-01 -9.30989294e-04 9.87562381e-01 -2.52837496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:-40.89, Z:-25.29 [[ 9.22827178e-01 3.55696842e-01 1.47884265e-01 1.51937586e+02] [-3.51349945e-01 9.34601052e-01 -5.54444694e-02 -4.08899904e+01] [-1.57934213e-01 -7.93465270e-04 9.87449318e-01 -2.52886424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:-40.90, Z:-25.29 [[ 9.23578924e-01 3.53403038e-01 1.48688479e-01 1.51965583e+02] [-3.48980561e-01 9.35471069e-01 -5.57355048e-02 -4.08978984e+01] [-1.58790867e-01 -4.13251194e-04 9.87312154e-01 -2.52925077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:-40.91, Z:-25.30 [[ 9.24091023e-01 3.52039034e-01 1.48742396e-01 1.51992111e+02] [-3.47597053e-01 9.35985301e-01 -5.57476923e-02 -4.09064487e+01] [-1.58846060e-01 -1.86476367e-04 9.87303345e-01 -2.52972134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:-40.92, Z:-25.30 [[ 9.25185225e-01 3.49351799e-01 1.48275490e-01 1.52019403e+02] [-3.44905146e-01 9.36991596e-01 -5.55624848e-02 -4.09151311e+01] [-1.58343742e-01 2.64610341e-04 9.87384013e-01 -2.53022208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.04, Y:-40.92, Z:-25.31 [[ 9.25611283e-01 3.48020818e-01 1.48745630e-01 1.52044990e+02] [-3.43529943e-01 9.37486679e-01 -5.57306429e-02 -4.09245128e+01] [-1.58842471e-01 4.86334054e-04 9.87303820e-01 -2.53065465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:-40.93, Z:-25.31 [[ 9.26318799e-01 3.46425984e-01 1.48062552e-01 1.52073119e+02] [-3.41957957e-01 9.38077012e-01 -5.54641804e-02 -4.09342401e+01] [-1.58108310e-01 7.46345246e-04 9.87421493e-01 -2.53114300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:-40.95, Z:-25.32 [[ 9.26747187e-01 3.45310946e-01 1.47986494e-01 1.52103390e+02] [-3.40834469e-01 9.38487872e-01 -5.54290455e-02 -4.09450957e+01] [-1.58023786e-01 9.29814110e-04 9.87434868e-01 -2.53168551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:-40.96, Z:-25.32 [[ 9.27751428e-01 3.42820643e-01 1.47483202e-01 1.52132710e+02] [-3.38338669e-01 9.39399866e-01 -5.52705845e-02 -4.09561387e+01] [-1.57493597e-01 1.37809363e-03 9.87519047e-01 -2.53221363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:-40.97, Z:-25.33 [[ 9.28201949e-01 3.41794930e-01 1.47028456e-01 1.52161266e+02] [-3.37324418e-01 9.39773252e-01 -5.51223319e-02 -4.09673371e+01] [-1.57013944e-01 1.56836773e-03 9.87595141e-01 -2.53275267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:-40.98, Z:-25.33 [[ 9.28612528e-01 3.40876444e-01 1.46567466e-01 1.52190949e+02] [-3.36422498e-01 9.40106533e-01 -5.49509814e-02 -4.09795630e+01] [-1.56520527e-01 1.71957689e-03 9.87673209e-01 -2.53330323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60587156000003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:152.22, Y:-40.99, Z:-25.34 [[ 9.28570356e-01 3.40385302e-01 1.47969390e-01 1.52218553e+02] [-3.36085162e-01 9.40285979e-01 -5.39355377e-02 -4.09926548e+01] [-1.57492407e-01 3.52625013e-04 9.87520135e-01 -2.53387509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:-41.00, Z:-25.34 [[ 9.29243253e-01 3.39882280e-01 1.44868948e-01 1.52246831e+02] [-3.35258493e-01 9.40461663e-01 -5.59786036e-02 -4.10026201e+01] [-1.55269827e-01 3.44919452e-03 9.87866076e-01 -2.53433788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:-41.02, Z:-25.35 [[ 9.29216728e-01 3.39852828e-01 1.45107989e-01 1.52275471e+02] [-3.35465352e-01 9.40476644e-01 -5.44672318e-02 -4.10153719e+01] [-1.54981517e-01 1.93316020e-03 9.87915478e-01 -2.53486376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:-41.03, Z:-25.35 [[ 9.29078361e-01 3.40196624e-01 1.45188351e-01 1.52304035e+02] [-3.35803689e-01 9.40352395e-01 -5.45275733e-02 -4.10270758e+01] [-1.55078310e-01 1.90560454e-03 9.87900342e-01 -2.53534069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:-41.04, Z:-25.36 [[ 9.28825312e-01 3.40309348e-01 1.46536986e-01 1.52330659e+02] [-3.36227416e-01 9.40313426e-01 -5.25527030e-02 -4.10396830e+01] [-1.55674871e-01 -4.57471353e-04 9.87808243e-01 -2.53587423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:152.36, Y:-41.05, Z:-25.36 [[ 9.27856173e-01 3.43545955e-01 1.45117538e-01 1.52357809e+02] [-3.38804513e-01 9.39128488e-01 -5.70016208e-02 -4.10500736e+01] [-1.55866690e-01 3.72282900e-03 9.87771085e-01 -2.53629893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78587156000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:152.39, Y:-41.06, Z:-25.37 [[ 9.27267865e-01 3.44722267e-01 1.46085130e-01 1.52387501e+02] [-3.40331287e-01 9.38704019e-01 -5.48578207e-02 -4.10638985e+01] [-1.56041411e-01 1.15055399e-03 9.87749844e-01 -2.53679258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-41.08, Z:-25.37 [[ 9.26667507e-01 3.45771324e-01 1.47409370e-01 1.52415122e+02] [-3.41686006e-01 9.38317985e-01 -5.30097402e-02 -4.10761293e+01] [-1.56646111e-01 -1.24531513e-03 9.87654011e-01 -2.53732318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:-41.09, Z:-25.38 [[ 9.25426529e-01 3.49843885e-01 1.45585011e-01 1.52442591e+02] [-3.45164235e-01 9.36804462e-01 -5.70881038e-02 -4.10859049e+01] [-1.56356612e-01 2.58010683e-03 9.87697298e-01 -2.53781577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:-41.10, Z:-25.38 [[ 9.24927820e-01 3.50954028e-01 1.46081480e-01 1.52468993e+02] [-3.46633656e-01 9.36392680e-01 -5.48986126e-02 -4.10982931e+01] [-1.56056518e-01 1.40496374e-04 9.87748117e-01 -2.53826973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:-41.11, Z:-25.39 [[ 9.24457456e-01 3.52058882e-01 1.46399983e-01 1.52495220e+02] [-3.47733874e-01 9.35977853e-01 -5.50146506e-02 -4.11085101e+01] [-1.56395538e-01 -4.95291780e-05 9.87694504e-01 -2.53876510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:-41.12, Z:-25.39 [[ 9.24005191e-01 3.53266562e-01 1.46345969e-01 1.52521231e+02] [-3.48961054e-01 9.35522671e-01 -5.49864992e-02 -4.11183749e+01] [-1.56334863e-01 -2.61232686e-04 9.87704076e-01 -2.53920996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:-41.13, Z:-25.40 [[ 9.23411044e-01 3.55073752e-01 1.45721222e-01 1.52548517e+02] [-3.50829201e-01 9.34838114e-01 -5.47409512e-02 -4.11302657e+01] [-1.55662827e-01 -5.74860953e-04 9.87810080e-01 -2.53983322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.99587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:152.58, Y:-41.14, Z:-25.40 [[ 9.23015186e-01 3.56129614e-01 1.45652550e-01 1.52577324e+02] [-3.51902576e-01 9.34436262e-01 -5.47124193e-02 -4.11429361e+01] [-1.55587737e-01 -7.55113577e-04 9.87821789e-01 -2.54034843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:-41.15, Z:-25.41 [[ 9.22947855e-01 3.56247480e-01 1.45790915e-01 1.52604800e+02] [-3.52008839e-01 9.34391340e-01 -5.47959875e-02 -4.11533877e+01] [-1.55746701e-01 -7.45851633e-04 9.87796745e-01 -2.54085798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.05587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:152.63, Y:-41.16, Z:-25.41 [[ 9.22629287e-01 3.56883626e-01 1.46250731e-01 1.52630439e+02] [-3.52625487e-01 9.34148462e-01 -5.49719596e-02 -4.11636821e+01] [-1.56238488e-01 -8.52995463e-04 9.87718992e-01 -2.54132762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:-41.17, Z:-25.42 [[ 9.22285750e-01 3.57935769e-01 1.45845743e-01 1.52656398e+02] [-3.53659332e-01 9.33745949e-01 -5.51686455e-02 -4.11731975e+01] [-1.55929703e-01 -6.98452264e-04 9.87767908e-01 -2.54170068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:-41.18, Z:-25.42 [[ 9.22026538e-01 3.58443730e-01 1.46236645e-01 1.52683548e+02] [-3.54294189e-01 9.33549884e-01 -5.44080987e-02 -4.11836097e+01] [-1.56021445e-01 -1.64508282e-03 9.87752298e-01 -2.54213665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:152.71, Y:-41.19, Z:-25.43 [[ 9.20897552e-01 3.61184328e-01 1.46606892e-01 1.52710917e+02] [-3.56964526e-01 9.32493039e-01 -5.50732203e-02 -4.11920971e+01] [-1.56601490e-01 -1.61666589e-03 9.87660549e-01 -2.54254221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:-41.20, Z:-25.43 [[ 9.20417701e-01 3.62336149e-01 1.46777965e-01 1.52736643e+02] [-3.58122246e-01 9.32045704e-01 -5.51295018e-02 -4.12007080e+01] [-1.56779183e-01 -1.82228514e-03 9.87632000e-01 -2.54301571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:-41.21, Z:-25.44 [[ 9.20080727e-01 3.63289142e-01 1.46534823e-01 1.52763820e+02] [-3.59102953e-01 9.31674317e-01 -5.50275877e-02 -4.12108330e+01] [-1.56513656e-01 -1.99126467e-03 9.87673787e-01 -2.54353778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:152.79, Y:-41.22, Z:-25.44 [[ 9.19885104e-01 3.63904394e-01 1.46236065e-01 1.52790951e+02] [-3.59743669e-01 9.31433950e-01 -5.49116614e-02 -4.12211739e+01] [-1.56191831e-01 -2.09507916e-03 9.87724518e-01 -2.54395614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:-41.23, Z:-25.44 [[ 9.19912575e-01 3.63838877e-01 1.46226285e-01 1.52816516e+02] [-3.59679162e-01 9.31459552e-01 -5.48999362e-02 -4.12304091e+01] [-1.56178602e-01 -2.09140614e-03 9.87726617e-01 -2.54445524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:-41.24, Z:-25.45 [[ 9.20093374e-01 3.63468759e-01 1.46009052e-01 1.52842004e+02] [-3.59318388e-01 9.31604165e-01 -5.48085329e-02 -4.12393931e+01] [-1.55943830e-01 -2.03476918e-03 9.87763829e-01 -2.54492595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:152.87, Y:-41.25, Z:-25.45 [[ 9.20295690e-01 3.63008735e-01 1.45878376e-01 1.52869233e+02] [-3.58862308e-01 9.31783657e-01 -5.47454096e-02 -4.12489763e+01] [-1.55800149e-01 -1.96828621e-03 9.87786637e-01 -2.54540466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:-41.26, Z:-25.46 [[ 9.20475309e-01 3.62576075e-01 1.45821105e-01 1.52894651e+02] [-3.58428732e-01 9.31952238e-01 -5.47162670e-02 -4.12583901e+01] [-1.55737114e-01 -1.90150100e-03 9.87796708e-01 -2.54589523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:-41.27, Z:-25.46 [[ 9.20568973e-01 3.62381255e-01 1.45714078e-01 1.52921710e+02] [-3.58239170e-01 9.32028060e-01 -5.46661923e-02 -4.12681212e+01] [-1.55619613e-01 -1.87648978e-03 9.87815274e-01 -2.54636402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:-41.28, Z:-25.47 [[ 9.20503205e-01 3.62576464e-01 1.45643938e-01 1.52948995e+02] [-3.58442064e-01 9.31952057e-01 -5.46319526e-02 -4.12771845e+01] [-1.55541428e-01 -1.91602642e-03 9.87827512e-01 -2.54681476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:-41.29, Z:-25.47 [[ 9.20336546e-01 3.63029955e-01 1.45567488e-01 1.52976070e+02] [-3.58906806e-01 9.31775325e-01 -5.45953238e-02 -4.12863443e+01] [-1.55455931e-01 -1.99909033e-03 9.87840806e-01 -2.54727009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-41.30, Z:-25.48 [[ 9.19958778e-01 3.64104596e-01 1.45271094e-01 1.53002946e+02] [-3.60012863e-01 9.31355504e-01 -5.44762647e-02 -4.12951910e+01] [-1.55134091e-01 -2.18354458e-03 9.87891009e-01 -2.54768826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:-41.30, Z:-25.48 [[ 9.19903305e-01 3.64381045e-01 1.44928825e-01 1.53029415e+02] [-3.60313296e-01 9.31247267e-01 -5.43401888e-02 -4.13040296e+01] [-1.54765107e-01 -2.23206355e-03 9.87948774e-01 -2.54815815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:-41.31, Z:-25.49 [[ 9.19924480e-01 3.64477824e-01 1.44550570e-01 1.53056019e+02] [-3.60434234e-01 9.31209344e-01 -5.41878219e-02 -4.13127054e+01] [-1.54357101e-01 -2.25227018e-03 9.88012557e-01 -2.54866465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:-41.32, Z:-25.49 [[ 9.19917194e-01 3.64483170e-01 1.44583455e-01 1.53082226e+02] [-3.60439005e-01 9.31207231e-01 -5.41924068e-02 -4.13212698e+01] [-1.54389379e-01 -2.26098988e-03 9.88007494e-01 -2.54914001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:-41.33, Z:-25.50 [[ 9.20137711e-01 3.64016472e-01 1.44355814e-01 1.53109479e+02] [-3.59981067e-01 9.31389937e-01 -5.40963597e-02 -4.13307478e+01] [-1.54143518e-01 -2.18925928e-03 9.88046043e-01 -2.54959840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:-41.34, Z:-25.50 [[ 9.20707625e-01 3.62355881e-01 1.44898877e-01 1.53135889e+02] [-3.58270680e-01 9.32037824e-01 -5.42919315e-02 -4.13394315e+01] [-1.54724235e-01 -1.92602400e-03 9.87955820e-01 -2.54999954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:-41.35, Z:-25.50 [[ 9.21191604e-01 3.60967028e-01 1.45288792e-01 1.53160566e+02] [-3.56844055e-01 9.32577017e-01 -5.44281956e-02 -4.13481687e+01] [-1.55139772e-01 -1.70664483e-03 9.87891056e-01 -2.55046661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:-41.36, Z:-25.51 [[ 9.22233002e-01 3.58035540e-01 1.45934374e-01 1.53187528e+02] [-3.53841374e-01 9.33707145e-01 -5.46557301e-02 -4.13581099e+01] [-1.55828661e-01 -1.23230119e-03 9.87783331e-01 -2.55082148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.21, Y:-41.37, Z:-25.51 [[ 9.22591456e-01 3.56802611e-01 1.46686405e-01 1.53214250e+02] [-3.52550634e-01 9.34179223e-01 -5.49293104e-02 -4.13677172e+01] [-1.56630313e-01 -1.03707251e-03 9.87656757e-01 -2.55121884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:-41.38, Z:-25.52 [[ 9.22886391e-01 3.55895290e-01 1.47034869e-01 1.53240779e+02] [-3.51612796e-01 9.34525412e-01 -5.50517598e-02 -4.13771808e+01] [-1.57000483e-01 -8.92821398e-04 9.87598122e-01 -2.55165581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:-41.39, Z:-25.52 [[ 9.23061231e-01 3.55277855e-01 1.47430018e-01 1.53267305e+02] [-3.50965621e-01 9.34760402e-01 -5.51916937e-02 -4.13865553e+01] [-1.57420129e-01 -7.97555003e-04 9.87531400e-01 -2.55212992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:-41.40, Z:-25.53 [[ 9.23107455e-01 3.54998911e-01 1.47812041e-01 1.53293213e+02] [-3.50661864e-01 9.34866406e-01 -5.53268472e-02 -4.13956156e+01] [-1.57825482e-01 -7.59420643e-04 9.87466729e-01 -2.55262072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:-41.40, Z:-25.53 [[ 9.23131739e-01 3.55152563e-01 1.47290358e-01 1.53319383e+02] [-3.50849848e-01 9.34808017e-01 -5.51212834e-02 -4.14049742e+01] [-1.57264672e-01 -7.92593361e-04 9.87556173e-01 -2.55303747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:-41.41, Z:-25.54 [[ 9.23152271e-01 3.55097846e-01 1.47293596e-01 1.53345726e+02] [-3.50795819e-01 9.34828803e-01 -5.51126290e-02 -4.14146957e+01] [-1.57264672e-01 -7.92628978e-04 9.87556173e-01 -2.55352265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.37, Y:-41.42, Z:-25.54 [[ 9.23161021e-01 3.55176868e-01 1.47048026e-01 1.53371361e+02] [-3.50891789e-01 9.34798764e-01 -5.50111153e-02 -4.14236386e+01] [-1.56998989e-01 -8.13827622e-04 9.87598428e-01 -2.55397852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:153.40, Y:-41.43, Z:-25.54 [[ 9.23198688e-01 3.55237693e-01 1.46664122e-01 1.53397392e+02] [-3.50977710e-01 9.34775635e-01 -5.48558051e-02 -4.14330415e+01] [-1.56584898e-01 -8.33030577e-04 9.87664151e-01 -2.55448121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:-41.44, Z:-25.55 [[ 9.23355450e-01 3.54970369e-01 1.46324131e-01 1.53422512e+02] [-3.50728702e-01 9.34877213e-01 -5.47172228e-02 -4.14423077e+01] [-1.56218088e-01 -7.96626675e-04 9.87722266e-01 -2.55502159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:-41.45, Z:-25.55 [[ 9.23527989e-01 3.54720015e-01 1.45841573e-01 1.53447213e+02] [-3.50505464e-01 9.34972260e-01 -5.45233264e-02 -4.14513376e+01] [-1.55698340e-01 -7.64450132e-04 9.87804354e-01 -2.55549768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:-41.46, Z:-25.56 [[ 9.23614277e-01 3.54536460e-01 1.45741436e-01 1.53473759e+02] [-3.50327638e-01 9.35041893e-01 -5.44720506e-02 -4.14610049e+01] [-1.55586676e-01 -7.46089370e-04 9.87821962e-01 -2.55599081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:153.50, Y:-41.47, Z:-25.56 [[ 9.23734837e-01 3.54259453e-01 1.45650923e-01 1.53499821e+02] [-3.50053692e-01 9.35146909e-01 -5.44304325e-02 -4.14709192e+01] [-1.55487505e-01 -7.06356541e-04 9.87837606e-01 -2.55640463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:-41.48, Z:-25.57 [[ 9.23891089e-01 3.53802257e-01 1.45771114e-01 1.53525714e+02] [-3.49585394e-01 9.35320028e-01 -5.44655698e-02 -4.14810918e+01] [-1.55612684e-01 -6.39197821e-04 9.87817941e-01 -2.55691320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:-41.49, Z:-25.57 [[ 9.24098616e-01 3.53294968e-01 1.45686008e-01 1.53551721e+02] [-3.49078680e-01 9.35511810e-01 -5.44217692e-02 -4.14912050e+01] [-1.55517919e-01 -5.64797825e-04 9.87832910e-01 -2.55742584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:-41.50, Z:-25.58 [[ 9.24284851e-01 3.52910196e-01 1.45436958e-01 1.53577238e+02] [-3.48704889e-01 9.35657062e-01 -5.43209285e-02 -4.15008981e+01] [-1.55249526e-01 -5.06567101e-04 9.87875158e-01 -2.55789208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:-41.51, Z:-25.58 [[ 9.24431501e-01 3.52301158e-01 1.45980460e-01 1.53603185e+02] [-3.48058200e-01 9.35886597e-01 -5.45139186e-02 -4.15103187e+01] [-1.55826473e-01 -4.15312728e-04 9.87784358e-01 -2.55831457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:-41.52, Z:-25.59 [[ 9.24442696e-01 3.52053044e-01 1.46507189e-01 1.53629888e+02] [-3.47777727e-01 9.35979971e-01 -5.47005140e-02 -4.15206119e+01] [-1.56385277e-01 -3.84446527e-04 9.87696055e-01 -2.55877103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:-41.53, Z:-25.59 [[ 9.24409789e-01 3.51969745e-01 1.46914396e-01 1.53656339e+02] [-3.47670687e-01 9.36011301e-01 -5.48446769e-02 -4.15312359e+01] [-1.56817202e-01 -3.78872867e-04 9.87627572e-01 -2.55927855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.68, Y:-41.54, Z:-25.60 [[ 9.24437649e-01 3.51818712e-01 1.47100740e-01 1.53682281e+02] [-3.47508107e-01 9.36068087e-01 -5.49058482e-02 -4.15417092e+01] [-1.57013213e-01 -3.61666614e-04 9.87596436e-01 -2.55975547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:-41.55, Z:-25.60 [[ 9.24491026e-01 3.51950002e-01 1.46449779e-01 1.53708339e+02] [-3.47680264e-01 9.36018721e-01 -5.46570064e-02 -4.15518774e+01] [-1.56316268e-01 -3.87785959e-04 9.87706978e-01 -2.56022887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:-41.56, Z:-25.61 [[ 9.24305648e-01 3.52521257e-01 1.46245798e-01 1.53733592e+02] [-3.48271809e-01 9.35803677e-01 -5.45731164e-02 -4.15616010e+01] [-1.56095539e-01 -4.91048938e-04 9.87741839e-01 -2.56074139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.76, Y:-41.57, Z:-25.61 [[ 9.23900121e-01 3.53662671e-01 1.46052323e-01 1.53761075e+02] [-3.49440331e-01 9.35372779e-01 -5.44905464e-02 -4.15721634e+01] [-1.55884640e-01 -6.92749864e-04 9.87775025e-01 -2.56125815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:-41.58, Z:-25.62 [[ 9.22638415e-01 3.57201616e-01 1.45414444e-01 1.53786829e+02] [-3.53060467e-01 9.34026417e-01 -5.42490503e-02 -4.15809505e+01] [-1.55198780e-01 -1.28783355e-03 9.87882422e-01 -2.56169756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:-41.59, Z:-25.62 [[ 9.21980248e-01 3.59055432e-01 1.45022822e-01 1.53812993e+02] [-3.54961062e-01 9.33314856e-01 -5.40927307e-02 -4.15895632e+01] [-1.54774244e-01 -1.60502578e-03 9.87948560e-01 -2.56215449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:-41.60, Z:-25.63 [[ 9.21301964e-01 3.60776192e-01 1.45062847e-01 1.53839668e+02] [-3.56702300e-01 9.32650478e-01 -5.40976478e-02 -4.15988876e+01] [-1.54810077e-01 -1.90398191e-03 9.87942415e-01 -2.56266788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:-41.61, Z:-25.63 [[ 9.20007287e-01 3.63838786e-01 1.45629429e-01 1.53865581e+02] [-3.59772158e-01 9.31458750e-01 -5.43009300e-02 -4.16070298e+01] [-1.55404591e-01 -2.43616276e-03 9.87847902e-01 -2.56315718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:-41.62, Z:-25.64 [[ 9.19411088e-01 3.65318269e-01 1.45690815e-01 1.53893372e+02] [-3.61268264e-01 9.30878772e-01 -5.43134699e-02 -4.16155141e+01] [-1.55462190e-01 -2.69706150e-03 9.87838161e-01 -2.56358913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:-41.62, Z:-25.64 [[ 9.18849133e-01 3.66582633e-01 1.46059727e-01 1.53918601e+02] [-3.62528979e-01 9.30380898e-01 -5.44437637e-02 -4.16230319e+01] [-1.55849318e-01 -2.92527862e-03 9.87776510e-01 -2.56404535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:-41.63, Z:-25.64 [[ 9.18449475e-01 3.67529651e-01 1.46193425e-01 1.53943869e+02] [-3.63483298e-01 9.30006618e-01 -5.44755259e-02 -4.16303294e+01] [-1.55982224e-01 -3.10585011e-03 9.87754980e-01 -2.56449609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:-41.64, Z:-25.65 [[ 9.18036564e-01 3.68607461e-01 1.46073291e-01 1.53970727e+02] [-3.64583555e-01 9.29579288e-01 -5.44167055e-02 -4.16359422e+01] [-1.55845109e-01 -3.29939431e-03 9.87775995e-01 -2.56495514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:-41.64, Z:-25.65 [[ 9.18108635e-01 3.68416069e-01 1.46103163e-01 1.53996094e+02] [-3.64389996e-01 9.29655231e-01 -5.44158284e-02 -4.16430146e+01] [-1.55873236e-01 -3.27888905e-03 9.87771625e-01 -2.56541315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:-41.65, Z:-25.66 [[ 9.18374687e-01 3.67695189e-01 1.46246992e-01 1.54022183e+02] [-3.63654328e-01 9.29940955e-01 -5.44550328e-02 -4.16506056e+01] [-1.56023921e-01 -3.17322782e-03 9.87748180e-01 -2.56588472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:-41.66, Z:-25.66 [[ 9.18754108e-01 3.66574667e-01 1.46676183e-01 1.54048653e+02] [-3.62497654e-01 9.30383789e-01 -5.46027167e-02 -4.16589084e+01] [-1.56481116e-01 -3.00330214e-03 9.87676385e-01 -2.56637872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.07, Y:-41.66, Z:-25.67 [[ 9.19877104e-01 3.63545182e-01 1.47176815e-01 1.54074661e+02] [-3.59403384e-01 9.31573194e-01 -5.47776679e-02 -4.16641340e+01] [-1.57020133e-01 -2.50712288e-03 9.87592220e-01 -2.56682629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:-41.67, Z:-25.67 [[ 9.20660996e-01 3.61559124e-01 1.47167692e-01 1.54100693e+02] [-3.57395920e-01 9.32346617e-01 -5.47534731e-02 -4.16708031e+01] [-1.57007918e-01 -2.18774554e-03 9.87594921e-01 -2.56728757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.13, Y:-41.68, Z:-25.68 [[ 9.22330461e-01 3.57152133e-01 1.47474996e-01 1.54127914e+02] [-3.52918770e-01 9.34045085e-01 -5.48463353e-02 -4.16766333e+01] [-1.57336781e-01 -1.46024842e-03 9.87543926e-01 -2.56773207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:-41.69, Z:-25.68 [[ 9.23134506e-01 3.54854661e-01 1.47989368e-01 1.54153710e+02] [-3.50564099e-01 9.34920850e-01 -5.50256101e-02 -4.16854426e+01] [-1.57884440e-01 -1.08371996e-03 9.87457001e-01 -2.56825285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.18, Y:-41.69, Z:-25.69 [[ 9.24179375e-01 3.52284422e-01 1.47608157e-01 1.54179785e+02] [-3.47985350e-01 9.35892760e-01 -5.48720127e-02 -4.16939514e+01] [-1.57475960e-01 -6.53893671e-04 9.87522604e-01 -2.56871211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:154.21, Y:-41.70, Z:-25.69 [[ 9.25349584e-01 3.49397302e-01 1.47138276e-01 1.54205831e+02] [-3.45091288e-01 9.36974650e-01 -5.46855336e-02 -4.17019178e+01] [-1.56971813e-01 -1.72901375e-04 9.87603068e-01 -2.56920352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:154.23, Y:-41.71, Z:-25.70 [[ 9.26339468e-01 3.46705655e-01 1.47276541e-01 1.54230845e+02] [-3.42359500e-01 9.37973941e-01 -5.47252991e-02 -4.17102307e+01] [-1.57115129e-01 2.72681452e-04 9.87580256e-01 -2.56969246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.26, Y:-41.72, Z:-25.70 [[ 9.28045023e-01 3.42064073e-01 1.47392687e-01 1.54255951e+02] [-3.37654910e-01 9.39676047e-01 -5.47548011e-02 -4.17189228e+01] [-1.57231028e-01 1.04705616e-03 9.87561293e-01 -2.57023317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:-41.73, Z:-25.71 [[ 9.28882049e-01 3.39818412e-01 1.47314581e-01 1.54282279e+02] [-3.35388044e-01 9.40490005e-01 -5.47120745e-02 -4.17284546e+01] [-1.57140061e-01 1.41351464e-03 9.87575315e-01 -2.57068554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:-41.74, Z:-25.71 [[ 9.29722649e-01 3.37540025e-01 1.47249879e-01 1.54309467e+02] [-3.33087065e-01 9.41309482e-01 -5.46760192e-02 -4.17379143e+01] [-1.57063053e-01 1.78650320e-03 9.87586961e-01 -2.57124829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.34, Y:-41.75, Z:-25.72 [[ 9.31205097e-01 3.33871948e-01 1.46241547e-01 1.54337090e+02] [-3.29435824e-01 9.42615423e-01 -5.42973545e-02 -4.17477711e+01] [-1.55977901e-01 2.38476881e-03 9.87757666e-01 -2.57181825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.36, Y:-41.76, Z:-25.72 [[ 9.31820017e-01 3.32225805e-01 1.46073508e-01 1.54363958e+02] [-3.27780063e-01 9.43196141e-01 -5.42334691e-02 -4.17577583e+01] [-1.55793727e-01 2.65584845e-03 9.87786040e-01 -2.57228099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:-41.77, Z:-25.73 [[ 9.32203333e-01 3.31039970e-01 1.46319800e-01 1.54388947e+02] [-3.26565831e-01 9.43612424e-01 -5.43171376e-02 -4.17682239e+01] [-1.56050325e-01 2.85156957e-03 9.87744990e-01 -2.57279807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:-41.78, Z:-25.73 [[ 9.32713251e-01 3.29375830e-01 1.46824911e-01 1.54415516e+02] [-3.24797978e-01 9.44192579e-01 -5.48329072e-02 -4.17796281e+01] [-1.56691626e-01 3.45494487e-03 9.87641533e-01 -2.57329348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12587156000004 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:154.44, Y:-41.79, Z:-25.74 [[ 9.32921745e-01 3.28562326e-01 1.47322150e-01 1.54443664e+02] [-3.24062875e-01 9.44477887e-01 -5.42657645e-02 -4.17909182e+01] [-1.56972199e-01 2.88407221e-03 9.87598811e-01 -2.57372072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:-41.80, Z:-25.74 [[ 9.32897232e-01 3.28585219e-01 1.47426285e-01 1.54470891e+02] [-3.24011270e-01 9.44468585e-01 -5.47337924e-02 -4.18024343e+01] [-1.57224210e-01 3.29322544e-03 9.87557443e-01 -2.57431146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:-41.81, Z:-25.75 [[ 9.32833230e-01 3.28665667e-01 1.47651770e-01 1.54497907e+02] [-3.24078648e-01 9.44440623e-01 -5.48173241e-02 -4.18139684e+01] [-1.57464902e-01 3.28463549e-03 9.87519122e-01 -2.57476360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:-41.82, Z:-25.75 [[ 9.32714460e-01 3.28942294e-01 1.47786008e-01 1.54524070e+02] [-3.24349857e-01 9.44344453e-01 -5.48700723e-02 -4.18248685e+01] [-1.57609984e-01 3.24373942e-03 9.87496112e-01 -2.57523959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:154.55, Y:-41.84, Z:-25.76 [[ 9.32270186e-01 3.30385656e-01 1.47368985e-01 1.54551370e+02] [-3.25838152e-01 9.43841303e-01 -5.47091613e-02 -4.18358691e+01] [-1.57168057e-01 2.98528225e-03 9.87567360e-01 -2.57569292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:-41.85, Z:-25.76 [[ 9.31766305e-01 3.31621663e-01 1.47778976e-01 1.54578370e+02] [-3.27064723e-01 9.43408363e-01 -5.48573461e-02 -4.18474513e+01] [-1.57607806e-01 2.78093675e-03 9.87497871e-01 -2.57630806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.61, Y:-41.86, Z:-25.77 [[ 9.31394220e-01 3.32669958e-01 1.47768418e-01 1.54605083e+02] [-3.28127412e-01 9.43039735e-01 -5.48494342e-02 -4.18585514e+01] [-1.57598249e-01 2.59957727e-03 9.87499891e-01 -2.57677118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.33587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.63, Y:-41.87, Z:-25.77 [[ 9.30633333e-01 3.36465939e-01 1.43917584e-01 1.54631975e+02] [-3.30929233e-01 9.41646154e-01 -6.15496858e-02 -4.18664106e+01] [-1.56228812e-01 9.65365367e-03 9.87673714e-01 -2.57717755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:-41.89, Z:-25.78 [[ 9.29954741e-01 3.35146047e-01 1.51199558e-01 1.54655893e+02] [-3.31769521e-01 9.42148857e-01 -4.77966054e-02 -4.18856738e+01] [-1.58471334e-01 -5.71472517e-03 9.87347040e-01 -2.57779832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39587156000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:154.68, Y:-41.89, Z:-25.78 [[ 9.29455172e-01 3.37712925e-01 1.48536406e-01 1.54684490e+02] [-3.33189241e-01 9.41247553e-01 -5.51178141e-02 -4.18915502e+01] [-1.58423527e-01 1.73880495e-03 9.87369719e-01 -2.57824028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:-41.91, Z:-25.79 [[ 9.28138918e-01 3.41020646e-01 1.49208133e-01 1.54712400e+02] [-3.36499175e-01 9.40055074e-01 -5.53603047e-02 -4.19057228e+01] [-1.59142870e-01 1.17363954e-03 9.87254866e-01 -2.57888250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:-41.92, Z:-25.79 [[ 9.27662851e-01 3.42878443e-01 1.47905404e-01 1.54739761e+02] [-3.38154140e-01 9.39376009e-01 -5.67846041e-02 -4.19169373e+01] [-1.58409005e-01 2.66214281e-03 9.87369992e-01 -2.57938862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:-41.93, Z:-25.80 [[ 9.27372405e-01 3.42865231e-01 1.49745968e-01 1.54769280e+02] [-3.38675314e-01 9.39383903e-01 -5.34501105e-02 -4.19316124e+01] [-1.58995137e-01 -1.14710534e-03 9.87278700e-01 -2.57996350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.80, Y:-41.94, Z:-25.81 [[ 9.27261049e-01 3.43463527e-01 1.49062913e-01 1.54799090e+02] [-3.38973928e-01 9.39165673e-01 -5.53580627e-02 -4.19421504e+01] [-1.59008246e-01 8.02934189e-04 9.87276928e-01 -2.58052743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:-41.95, Z:-25.81 [[ 9.27552757e-01 3.42742835e-01 1.48906789e-01 1.54825921e+02] [-3.38249760e-01 9.39428790e-01 -5.53231281e-02 -4.19547368e+01] [-1.58848930e-01 9.47434420e-04 9.87302446e-01 -2.58111348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:-41.96, Z:-25.82 [[ 9.27938394e-01 3.42677663e-01 1.46636816e-01 1.54852213e+02] [-3.37733036e-01 9.39442465e-01 -5.81743177e-02 -4.19640137e+01] [-1.57691891e-01 4.45808590e-03 9.87478300e-01 -2.58160065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:-41.98, Z:-25.82 [[ 9.28120653e-01 3.40754359e-01 1.49928383e-01 1.54878321e+02] [-3.36774840e-01 9.40149662e-01 -5.19742196e-02 -4.19801665e+01] [-1.58665560e-01 -2.25376056e-03 9.87329813e-01 -2.58217485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.91, Y:-41.99, Z:-25.83 [[ 9.28311850e-01 3.40514514e-01 1.49288231e-01 1.54905936e+02] [-3.35967260e-01 9.40238296e-01 -5.54792411e-02 -4.19924683e+01] [-1.59257998e-01 1.34607911e-03 9.87236080e-01 -2.58271186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:-42.01, Z:-25.83 [[ 9.28270844e-01 3.40575924e-01 1.49403078e-01 1.54935336e+02] [-3.36022430e-01 9.40216068e-01 -5.55218220e-02 -4.20062804e+01] [-1.59380570e-01 1.33650337e-03 9.87216312e-01 -2.58332064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:-42.02, Z:-25.84 [[ 9.28258172e-01 3.40664970e-01 1.49278749e-01 1.54964717e+02] [-3.36114817e-01 9.40183785e-01 -5.55092754e-02 -4.20199645e+01] [-1.59259524e-01 1.35213920e-03 9.87235826e-01 -2.58391840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.99, Y:-42.03, Z:-25.84 [[ 9.28243519e-01 3.40767765e-01 1.49135175e-01 1.54993478e+02] [-3.36222278e-01 9.40146513e-01 -5.54897591e-02 -4.20334355e+01] [-1.59118036e-01 1.36544084e-03 9.87258622e-01 -2.58443964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.02, Y:-42.05, Z:-25.85 [[ 9.28214422e-01 3.40851676e-01 1.49124521e-01 1.55024379e+02] [-3.36302668e-01 9.40116070e-01 -5.55183775e-02 -4.20450669e+01] [-1.59117890e-01 1.38198447e-03 9.87258622e-01 -2.58500977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.05, Y:-42.06, Z:-25.85 [[ 9.28031576e-01 3.40965018e-01 1.50000832e-01 1.55051881e+02] [-3.36361256e-01 9.40074966e-01 -5.58584282e-02 -4.20609233e+01] [-1.60057797e-01 1.38391686e-03 9.87106674e-01 -2.58548258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.08, Y:-42.07, Z:-25.86 [[ 9.27749172e-01 3.41181447e-01 1.51250434e-01 1.55081824e+02] [-3.36497782e-01 9.39996432e-01 -5.63555689e-02 -4.20742008e+01] [-1.61402343e-01 1.38839669e-03 9.86887712e-01 -2.58605291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:-42.09, Z:-25.87 [[ 9.27495003e-01 3.41610882e-01 1.51838809e-01 1.55110774e+02] [-3.36890514e-01 9.39840507e-01 -5.66092160e-02 -4.20876039e+01] [-1.62042587e-01 1.35171063e-03 9.86782840e-01 -2.58654022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:-42.10, Z:-25.87 [[ 9.27322647e-01 3.42060519e-01 1.51879260e-01 1.55138158e+02] [-3.37338364e-01 9.39677020e-01 -5.66562147e-02 -4.21038249e+01] [-1.62097304e-01 1.30389003e-03 9.86773917e-01 -2.58709473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:-42.12, Z:-25.88 [[ 9.26991119e-01 3.42824469e-01 1.52180314e-01 1.55167551e+02] [-3.38088617e-01 9.39398711e-01 -5.67991942e-02 -4.21180097e+01] [-1.62430145e-01 1.20191665e-03 9.86719313e-01 -2.58768988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.20, Y:-42.13, Z:-25.88 [[ 9.26655590e-01 3.43727090e-01 1.52187732e-01 1.55195943e+02] [-3.38997410e-01 9.39068970e-01 -5.68350689e-02 -4.21309628e+01] [-1.62450529e-01 1.07528743e-03 9.86716104e-01 -2.58822720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.23, Y:-42.14, Z:-25.89 [[ 9.26220845e-01 3.44998324e-01 1.51957570e-01 1.55225553e+02] [-3.40294997e-01 9.38602888e-01 -5.67796866e-02 -4.21439334e+01] [-1.62216711e-01 8.80128320e-04 9.86754764e-01 -2.58877416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:-42.16, Z:-25.89 [[ 9.24970925e-01 3.48210399e-01 1.52244233e-01 1.55254000e+02] [-3.43526797e-01 9.37416341e-01 -5.69205093e-02 -4.21604846e+01] [-1.62536545e-01 3.49842436e-04 9.86702462e-01 -2.58936041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:-42.17, Z:-25.90 [[ 9.24200504e-01 3.50166039e-01 1.52437438e-01 1.55282923e+02] [-3.45492928e-01 9.36687645e-01 -5.70166016e-02 -4.21737092e+01] [-1.62751543e-01 2.87150473e-05 9.86667084e-01 -2.58990411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:-42.19, Z:-25.90 [[ 9.23376590e-01 3.52494645e-01 1.52063137e-01 1.55312264e+02] [-3.47872519e-01 9.35813761e-01 -5.68974065e-02 -4.21867847e+01] [-1.62358808e-01 -3.60853534e-04 9.86731720e-01 -2.59040869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:-42.20, Z:-25.91 [[ 9.21334768e-01 3.57890683e-01 1.51843682e-01 1.55341309e+02] [-3.53349536e-01 9.33762615e-01 -5.68461380e-02 -4.22005739e+01] [-1.62130656e-01 -1.27957104e-03 9.86768470e-01 -2.59100467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:-42.21, Z:-25.92 [[ 9.20262487e-01 3.60634018e-01 1.51855389e-01 1.55370342e+02] [-3.56123727e-01 9.32705799e-01 -5.68839468e-02 -4.22126540e+01] [-1.62150689e-01 -1.73114487e-03 9.86764489e-01 -2.59159005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:-42.22, Z:-25.92 [[ 9.19120988e-01 3.63371846e-01 1.52241619e-01 1.55399903e+02] [-3.58870573e-01 9.31641618e-01 -5.70596846e-02 -4.22249781e+01] [-1.62568511e-01 -2.19028352e-03 9.86694827e-01 -2.59218440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:-42.24, Z:-25.93 [[ 9.18123330e-01 3.65916494e-01 1.52166587e-01 1.55429078e+02] [-3.61448775e-01 9.30644036e-01 -5.70654169e-02 -4.22362010e+01] [-1.62494104e-01 -2.60733593e-03 9.86706070e-01 -2.59274596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:-42.25, Z:-25.93 [[ 9.16454595e-01 3.70373924e-01 1.51440192e-01 1.55457684e+02] [-3.66004193e-01 9.28876702e-01 -5.68243149e-02 -4.22477593e+01] [-1.61715511e-01 -3.35084088e-03 9.86831731e-01 -2.59327166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:-42.26, Z:-25.94 [[ 9.15653928e-01 3.72367301e-01 1.51395106e-01 1.55485971e+02] [-3.68022596e-01 9.28078169e-01 -5.68355696e-02 -4.22589369e+01] [-1.61670200e-01 -3.67510720e-03 9.86838001e-01 -2.59381491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:-42.27, Z:-25.94 [[ 9.14936359e-01 3.74193676e-01 1.51230133e-01 1.55513795e+02] [-3.69883234e-01 9.27341980e-01 -5.67736367e-02 -4.22691747e+01] [-1.61486386e-01 -3.99322607e-03 9.86866861e-01 -2.59433106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:-42.28, Z:-25.95 [[ 9.14334211e-01 3.75546828e-01 1.51517427e-01 1.55541179e+02] [-3.71238295e-01 9.26793721e-01 -5.68816992e-02 -4.22782907e+01] [-1.61787141e-01 -4.24018760e-03 9.86816569e-01 -2.59487157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:-42.29, Z:-25.95 [[ 9.13569451e-01 3.77278511e-01 1.51828141e-01 1.55569098e+02] [-3.72976541e-01 9.26088620e-01 -5.69944554e-02 -4.22856307e+01] [-1.62109097e-01 -4.55994148e-03 9.86762306e-01 -2.59539228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:-42.30, Z:-25.96 [[ 9.13211637e-01 3.77930323e-01 1.52358709e-01 1.55600155e+02] [-3.73608726e-01 9.25822101e-01 -5.71835338e-02 -4.22962048e+01] [-1.62668452e-01 -4.70187476e-03 9.86669584e-01 -2.59595988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38587156000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:155.63, Y:-42.31, Z:-25.96 [[ 9.13190049e-01 3.78039268e-01 1.52217761e-01 1.55629104e+02] [-3.73721457e-01 9.25777712e-01 -5.71655574e-02 -4.23057885e+01] [-1.62530636e-01 -4.68402506e-03 9.86692380e-01 -2.59647259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:-42.32, Z:-25.97 [[ 9.13256938e-01 3.77610132e-01 1.52880193e-01 1.55660592e+02] [-3.73245819e-01 9.25953188e-01 -5.74304105e-02 -4.23152211e+01] [-1.63246207e-01 -4.61317203e-03 9.86574576e-01 -2.59706423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:-42.33, Z:-25.98 [[ 9.13368386e-01 3.77204067e-01 1.53216460e-01 1.55689630e+02] [-3.72808915e-01 9.26119151e-01 -5.75919414e-02 -4.23250969e+01] [-1.63620612e-01 -4.51780373e-03 9.86512993e-01 -2.59758364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:-42.33, Z:-25.98 [[ 9.13724663e-01 3.76241926e-01 1.53457661e-01 1.55716028e+02] [-3.71816414e-01 9.26511314e-01 -5.77004307e-02 -4.23336689e+01] [-1.63889581e-01 -4.33577073e-03 9.86469161e-01 -2.59808999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:-42.34, Z:-25.99 [[ 9.14326432e-01 3.74852670e-01 1.53273125e-01 1.55744891e+02] [-3.70420253e-01 9.27075366e-01 -5.76203307e-02 -4.23430302e+01] [-1.63694873e-01 -4.09167829e-03 9.86502533e-01 -2.59863116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.78, Y:-42.35, Z:-25.99 [[ 9.15576054e-01 3.71922520e-01 1.52951392e-01 1.55775448e+02] [-3.67468399e-01 9.28256946e-01 -5.74979811e-02 -4.23529741e+01] [-1.63362986e-01 -3.56102834e-03 9.86559605e-01 -2.59932443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:-42.36, Z:-26.00 [[ 9.16259569e-01 3.70533563e-01 1.52227725e-01 1.55805527e+02] [-3.66097127e-01 9.28813338e-01 -5.72597350e-02 -4.23635324e+01] [-1.62607795e-01 -3.26535270e-03 9.86685382e-01 -2.59989686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:-42.37, Z:-26.01 [[ 9.16862401e-01 3.69152174e-01 1.51953977e-01 1.55835614e+02] [-3.64708047e-01 9.29364166e-01 -5.71864338e-02 -4.23738386e+01] [-1.62331077e-01 -2.98674719e-03 9.86731828e-01 -2.60057200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.86, Y:-42.38, Z:-26.01 [[ 9.17492850e-01 3.67720613e-01 1.51619329e-01 1.55864923e+02] [-3.63271684e-01 9.29932401e-01 -5.70912725e-02 -4.23829344e+01] [-1.61989365e-01 -2.69817471e-03 9.86788815e-01 -2.60104481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:-42.39, Z:-26.02 [[ 9.18626352e-01 3.65257136e-01 1.50707832e-01 1.55894305e+02] [-3.60828330e-01 9.30903958e-01 -5.67515393e-02 -4.23922702e+01] [-1.61023422e-01 -2.24619568e-03 9.86948029e-01 -2.60170496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:-42.40, Z:-26.02 [[ 9.19128365e-01 3.64138305e-01 1.50354061e-01 1.55921283e+02] [-3.59712733e-01 9.31342675e-01 -5.66354309e-02 -4.24025652e+01] [-1.60654283e-01 -2.02903935e-03 9.87008655e-01 -2.60221465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:-42.41, Z:-26.03 [[ 9.19803858e-01 3.62414976e-01 1.50386996e-01 1.55950897e+02] [-3.57964443e-01 9.32015236e-01 -5.66485396e-02 -4.24129316e+01] [-1.60693251e-01 -1.72765199e-03 9.87002885e-01 -2.60274116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:-42.42, Z:-26.03 [[ 9.20032728e-01 3.61846542e-01 1.50355775e-01 1.55980165e+02] [-3.57385489e-01 9.32236301e-01 -5.66665012e-02 -4.24231789e+01] [-1.60671689e-01 -1.59993666e-03 9.87006610e-01 -2.60322379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.77587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:156.01, Y:-42.43, Z:-26.04 [[ 9.20311966e-01 3.61072378e-01 1.50507883e-01 1.56006281e+02] [-3.56587120e-01 9.32536685e-01 -5.67534729e-02 -4.24318798e+01] [-1.60846233e-01 -1.43827225e-03 9.86978430e-01 -2.60360550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:-42.44, Z:-26.04 [[ 9.20441858e-01 3.60445068e-01 1.51215539e-01 1.56033914e+02] [-3.55910584e-01 9.32779472e-01 -5.70097565e-02 -4.24416057e+01] [-1.61599636e-01 -1.34504448e-03 9.86855485e-01 -2.60416284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.83587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:156.06, Y:-42.45, Z:-26.05 [[ 9.20461114e-01 3.59893698e-01 1.52406903e-01 1.56063391e+02] [-3.55280268e-01 9.32992461e-01 -5.74543256e-02 -4.24504044e+01] [-1.62871942e-01 -1.26269296e-03 9.86646409e-01 -2.60463668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:156.09, Y:-42.46, Z:-26.05 [[ 9.20273458e-01 3.60243079e-01 1.52714395e-01 1.56091497e+02] [-3.55614948e-01 9.32857531e-01 -5.75746088e-02 -4.24609045e+01] [-1.63201628e-01 -1.32313740e-03 9.86591850e-01 -2.60512376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.12, Y:-42.47, Z:-26.06 [[ 9.19917257e-01 3.60953924e-01 1.53181284e-01 1.56118618e+02] [-3.56306668e-01 9.32582520e-01 -5.77529317e-02 -4.24714999e+01] [-1.63700335e-01 -1.45159428e-03 9.86509044e-01 -2.60560615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:-42.48, Z:-26.06 [[ 9.19526575e-01 3.61767079e-01 1.53608132e-01 1.56145158e+02] [-3.57105294e-01 9.32267136e-01 -5.79119761e-02 -4.24809764e+01] [-1.64154460e-01 -1.60267603e-03 9.86433345e-01 -2.60607398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:156.17, Y:-42.49, Z:-26.06 [[ 9.18741096e-01 3.63874622e-01 1.53329902e-01 1.56173194e+02] [-3.59260311e-01 9.31445826e-01 -5.77988081e-02 -4.24871991e+01] [-1.63850017e-01 -1.98320804e-03 9.86483268e-01 -2.60648826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:-42.50, Z:-26.07 [[ 9.18291599e-01 3.65105769e-01 1.53095774e-01 1.56199889e+02] [-3.60523985e-01 9.30963429e-01 -5.77022559e-02 -4.24962416e+01] [-1.63593994e-01 -2.20720190e-03 9.86525283e-01 -2.60707447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:-42.51, Z:-26.08 [[ 9.17862876e-01 3.66304754e-01 1.52802385e-01 1.56227144e+02] [-3.61758518e-01 9.30491779e-01 -5.75831843e-02 -4.25054566e+01] [-1.63274357e-01 -2.42409724e-03 9.86577725e-01 -2.60761153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:-42.51, Z:-26.08 [[ 9.17393734e-01 3.67723886e-01 1.52209989e-01 1.56253637e+02] [-3.63233080e-01 9.29931189e-01 -5.73560157e-02 -4.25137095e+01] [-1.62635993e-01 -2.66965365e-03 9.86682526e-01 -2.60819389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:-42.52, Z:-26.09 [[ 9.17356130e-01 3.67995107e-01 1.51780541e-01 1.56280713e+02] [-3.63535173e-01 9.29823749e-01 -5.71836810e-02 -4.25230292e+01] [-1.62172466e-01 -2.71976486e-03 9.86758681e-01 -2.60866291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:-42.53, Z:-26.09 [[ 9.17396006e-01 3.67886597e-01 1.51802568e-01 1.56307631e+02] [-3.63425239e-01 9.29866719e-01 -5.71837474e-02 -4.25323685e+01] [-1.62193290e-01 -2.70874305e-03 9.86755289e-01 -2.60919071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:156.33, Y:-42.54, Z:-26.10 [[ 9.17470309e-01 3.67627666e-01 1.51980696e-01 1.56334406e+02] [-3.63153617e-01 9.29969219e-01 -5.72424805e-02 -4.25413251e+01] [-1.62381289e-01 -2.67406328e-03 9.86724463e-01 -2.60962381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.36, Y:-42.55, Z:-26.10 [[ 9.17965623e-01 3.66439601e-01 1.51858929e-01 1.56360931e+02] [-3.61957990e-01 9.30438563e-01 -5.71882365e-02 -4.25498501e+01] [-1.62251438e-01 -2.46971749e-03 9.86746356e-01 -2.61014211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.39, Y:-42.56, Z:-26.11 [[ 9.18278412e-01 3.65622475e-01 1.51937369e-01 1.56388265e+02] [-3.61126887e-01 9.30760305e-01 -5.72068761e-02 -4.25597580e+01] [-1.62333392e-01 -2.33682972e-03 9.86733201e-01 -2.61064708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-42.57, Z:-26.11 [[ 9.18651138e-01 3.64655599e-01 1.52007828e-01 1.56413668e+02] [-3.60143306e-01 9.31139937e-01 -5.72295103e-02 -4.25697475e+01] [-1.62409620e-01 -2.17064682e-03 9.86721036e-01 -2.61122595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.44, Y:-42.58, Z:-26.12 [[ 9.19738603e-01 3.62137382e-01 1.51451045e-01 1.56440689e+02] [-3.57626231e-01 9.32123127e-01 -5.70083795e-02 -4.25794254e+01] [-1.61815887e-01 -1.73005907e-03 9.86819449e-01 -2.61169261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.47, Y:-42.59, Z:-26.12 [[ 9.20158839e-01 3.61099639e-01 1.51376224e-01 1.56466755e+02] [-3.56580363e-01 9.32525943e-01 -5.69720126e-02 -4.25888547e+01] [-1.61734830e-01 -1.55448806e-03 9.86833030e-01 -2.61219712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:-42.60, Z:-26.13 [[ 9.20562277e-01 3.60008677e-01 1.51521766e-01 1.56492964e+02] [-3.55467687e-01 9.32947943e-01 -5.70163092e-02 -4.25985667e+01] [-1.61888286e-01 -1.37402820e-03 9.86808135e-01 -2.61270516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:-42.61, Z:-26.13 [[ 9.21041023e-01 3.58559511e-01 1.52047726e-01 1.56519280e+02] [-3.53968492e-01 9.33506185e-01 -5.72058510e-02 -4.26082520e+01] [-1.62449195e-01 -1.13116886e-03 9.86716261e-01 -2.61321641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:-42.62, Z:-26.14 [[ 9.21147915e-01 3.58243251e-01 1.52145625e-01 1.56545282e+02] [-3.53643357e-01 9.33627655e-01 -5.72344110e-02 -4.26180896e+01] [-1.62551204e-01 -1.08393119e-03 9.86699514e-01 -2.61366582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:-42.63, Z:-26.14 [[ 9.21299925e-01 3.57908805e-01 1.52012288e-01 1.56572065e+02] [-3.53314226e-01 9.33755974e-01 -5.71737621e-02 -4.26284993e+01] [-1.62405375e-01 -1.03392116e-03 9.86723581e-01 -2.61416995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:-42.64, Z:-26.15 [[ 9.21206328e-01 3.58232540e-01 1.51816827e-01 1.56597800e+02] [-3.53655530e-01 9.33631749e-01 -5.70922273e-02 -4.26377675e+01] [-1.62193303e-01 -1.09713941e-03 9.86758394e-01 -2.61463077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:-42.65, Z:-26.15 [[ 9.21075492e-01 3.58510314e-01 1.51954903e-01 1.56625147e+02] [-3.53930511e-01 9.33525048e-01 -5.71329958e-02 -4.26471109e+01] [-1.62336477e-01 -1.15767430e-03 9.86734781e-01 -2.61506633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:-42.66, Z:-26.16 [[ 9.20810005e-01 3.59020702e-01 1.52358361e-01 1.56652434e+02] [-3.54424698e-01 9.33328747e-01 -5.72763759e-02 -4.26565010e+01] [-1.62763843e-01 -1.25890614e-03 9.86664252e-01 -2.61553490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:-42.66, Z:-26.16 [[ 9.20279518e-01 3.60139915e-01 1.52921057e-01 1.56678359e+02] [-3.55525677e-01 9.32897150e-01 -5.74839151e-02 -4.26645087e+01] [-1.63361871e-01 -1.46609274e-03 9.86565127e-01 -2.61591286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.55587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.71, Y:-42.67, Z:-26.16 [[ 9.19970814e-01 3.60605864e-01 1.53678602e-01 1.56705187e+02] [-3.55953738e-01 9.32716975e-01 -5.77579462e-02 -4.26737137e+01] [-1.64166495e-01 -1.56684810e-03 9.86431400e-01 -2.61634369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.73, Y:-42.68, Z:-26.17 [[ 9.19534877e-01 3.61179584e-01 1.54935204e-01 1.56731553e+02] [-3.56460073e-01 9.32494744e-01 -5.82217208e-02 -4.26831554e+01] [-1.65504761e-01 -1.69131133e-03 9.86207541e-01 -2.61683594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:-42.69, Z:-26.17 [[ 9.19269412e-01 3.61605170e-01 1.55516720e-01 1.56758090e+02] [-3.56857389e-01 9.32329622e-01 -5.84318475e-02 -4.26921794e+01] [-1.66122103e-01 -1.78268043e-03 9.86103579e-01 -2.61723659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:-42.70, Z:-26.18 [[ 9.19215442e-01 3.61949471e-01 1.55034034e-01 1.56784819e+02] [-3.57237912e-01 9.32195882e-01 -5.82401230e-02 -4.27007859e+01] [-1.65602070e-01 -1.84881436e-03 9.86190923e-01 -2.61770927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:-42.71, Z:-26.18 [[ 9.19235699e-01 3.61896312e-01 1.55038021e-01 1.56811151e+02] [-3.57185793e-01 9.32216517e-01 -5.82295084e-02 -4.27105402e+01] [-1.65602048e-01 -1.85073552e-03 9.86190923e-01 -2.61819411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.84, Y:-42.72, Z:-26.19 [[ 9.19205855e-01 3.62153104e-01 1.54614762e-01 1.56837862e+02] [-3.57473721e-01 9.32116685e-01 -5.80605186e-02 -4.27185858e+01] [-1.65145797e-01 -1.90114567e-03 9.86267333e-01 -2.61874657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:-42.73, Z:-26.19 [[ 9.19183763e-01 3.62370287e-01 1.54236779e-01 1.56864344e+02] [-3.57718326e-01 9.32032188e-01 -5.79102785e-02 -4.27271784e+01] [-1.64738607e-01 -1.94313468e-03 9.86335346e-01 -2.61927077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:156.89, Y:-42.74, Z:-26.20 [[ 9.19183071e-01 3.62478873e-01 1.53985550e-01 1.56891143e+02] [-3.57845414e-01 9.31989908e-01 -5.78054534e-02 -4.27353060e+01] [-1.64466234e-01 -1.96922888e-03 9.86380748e-01 -2.61976711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.92, Y:-42.74, Z:-26.20 [[ 9.19263288e-01 3.62372257e-01 1.53757455e-01 1.56916926e+02] [-3.57752490e-01 9.32031397e-01 -5.77116108e-02 -4.27437549e+01] [-1.64219862e-01 -1.95494728e-03 9.86421824e-01 -2.62028716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:-42.75, Z:-26.21 [[ 9.19375426e-01 3.62204811e-01 1.53481273e-01 1.56943836e+02] [-3.57601142e-01 9.32096532e-01 -5.75975600e-02 -4.27529402e+01] [-1.63921476e-01 -1.93129741e-03 9.86471500e-01 -2.62080118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-42.76, Z:-26.21 [[ 9.19809156e-01 3.61319754e-01 1.52967814e-01 1.56970353e+02] [-3.56736275e-01 9.32440284e-01 -5.73963984e-02 -4.27610979e+01] [-1.63371804e-01 -1.77543532e-03 9.86562974e-01 -2.62130707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-42.77, Z:-26.22 [[ 9.20038705e-01 3.60735287e-01 1.52966776e-01 1.56997245e+02] [-3.56145630e-01 9.32666727e-01 -5.73852418e-02 -4.27697483e+01] [-1.63367904e-01 -1.68180515e-03 9.86563784e-01 -2.62185069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:-42.78, Z:-26.22 [[ 9.20240074e-01 3.60096143e-01 1.53261129e-01 1.57024011e+02] [-3.55481259e-01 9.32913862e-01 -5.74873940e-02 -4.27780864e+01] [-1.63680420e-01 -1.57925525e-03 9.86512152e-01 -2.62232069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:-42.79, Z:-26.23 [[ 9.20428904e-01 3.59450686e-01 1.53641908e-01 1.57050398e+02] [-3.54805188e-01 9.33162914e-01 -5.76216426e-02 -4.27870434e+01] [-1.64085070e-01 -1.47632094e-03 9.86445087e-01 -2.62279403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-42.80, Z:-26.23 [[ 9.20470931e-01 3.59105489e-01 1.54196345e-01 1.57077247e+02] [-3.54423186e-01 9.33295881e-01 -5.78187124e-02 -4.27964032e+01] [-1.64673830e-01 -1.43031570e-03 9.86347040e-01 -2.62326646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:-42.81, Z:-26.24 [[ 9.20600473e-01 3.58962065e-01 1.53756316e-01 1.57103699e+02] [-3.54306016e-01 9.33351087e-01 -5.76454225e-02 -4.28054964e+01] [-1.64201145e-01 -1.40838454e-03 9.86425872e-01 -2.62373863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:-42.81, Z:-26.24 [[ 9.20594354e-01 3.59235790e-01 1.53152480e-01 1.57129847e+02] [-3.54621637e-01 9.33245690e-01 -5.74106051e-02 -4.28140598e+01] [-1.63552836e-01 -1.45930409e-03 9.86533497e-01 -2.62424823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:-42.82, Z:-26.25 [[ 9.20552689e-01 3.59559207e-01 1.52643123e-01 1.57155757e+02] [-3.54982229e-01 9.33121031e-01 -5.72080315e-02 -4.28219494e+01] [-1.63004182e-01 -1.52258867e-03 9.86624203e-01 -2.62473561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:-42.83, Z:-26.25 [[ 9.20308280e-01 3.60429020e-01 1.52064431e-01 1.57182310e+02] [-3.55900399e-01 9.32785130e-01 -5.69807600e-02 -4.28289453e+01] [-1.62380960e-01 -1.67992640e-03 9.86726711e-01 -2.62520709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:-42.84, Z:-26.26 [[ 9.20198443e-01 3.60749413e-01 1.51969360e-01 1.57208945e+02] [-3.56232868e-01 9.32661144e-01 -5.69327231e-02 -4.28373929e+01] [-1.62274364e-01 -1.74707781e-03 9.86744130e-01 -2.62568514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:-42.85, Z:-26.26 [[ 9.20125694e-01 3.60806242e-01 1.52274628e-01 1.57234953e+02] [-3.56274226e-01 9.32639113e-01 -5.70347409e-02 -4.28453161e+01] [-1.62595764e-01 -1.77239462e-03 9.86691176e-01 -2.62611619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.26, Y:-42.85, Z:-26.27 [[ 9.20273591e-01 3.60197607e-01 1.52820813e-01 1.57260592e+02] [-3.55627500e-01 9.32874500e-01 -5.72210441e-02 -4.28519796e+01] [-1.63173523e-01 -1.68826798e-03 9.86595941e-01 -2.62659393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.29, Y:-42.86, Z:-26.27 [[ 9.20722153e-01 3.59226093e-01 1.52405152e-01 1.57286942e+02] [-3.54670981e-01 9.33249309e-01 -5.70458006e-02 -4.28613843e+01] [-1.62724343e-01 -1.53035232e-03 9.86670384e-01 -2.62707988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24587156000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:157.31, Y:-42.87, Z:-26.28 [[ 9.21249871e-01 3.57934834e-01 1.52254162e-01 1.57313353e+02] [-3.53373302e-01 9.33745646e-01 -5.69769905e-02 -4.28707536e+01] [-1.62560710e-01 -1.31251075e-03 9.86697670e-01 -2.62753375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.27587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:157.34, Y:-42.88, Z:-26.28 [[ 9.22423045e-01 3.54862198e-01 1.52343515e-01 1.57338637e+02] [-3.50255580e-01 9.34918290e-01 -5.69984221e-02 -4.28793068e+01] [-1.62655324e-01 -7.82508228e-04 9.86682641e-01 -2.62806491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:-42.89, Z:-26.29 [[ 9.22929920e-01 3.53442550e-01 1.52573672e-01 1.57364219e+02] [-3.48805882e-01 9.35456070e-01 -5.70648553e-02 -4.28888354e+01] [-1.62895116e-01 -5.51731939e-04 9.86643237e-01 -2.62865207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:-42.90, Z:-26.29 [[ 9.23490001e-01 3.52083814e-01 1.52325988e-01 1.57390650e+02] [-3.47445962e-01 9.35968420e-01 -5.69598114e-02 -4.28986536e+01] [-1.62626942e-01 -3.23233065e-04 9.86687576e-01 -2.62910784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.42, Y:-42.91, Z:-26.30 [[ 9.24165665e-01 3.50367481e-01 1.52185582e-01 1.57416473e+02] [-3.45716483e-01 9.36612315e-01 -5.68989081e-02 -4.29071351e+01] [-1.62474418e-01 -2.90469983e-05 9.86712756e-01 -2.62954122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:-42.92, Z:-26.30 [[ 9.24462608e-01 3.49711323e-01 1.51891005e-01 1.57443957e+02] [-3.45071566e-01 9.36857505e-01 -5.67770146e-02 -4.29172013e+01] [-1.62155793e-01 7.49601665e-05 9.86765166e-01 -2.63013493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:-42.93, Z:-26.31 [[ 9.24731598e-01 3.49134539e-01 1.51580161e-01 1.57470702e+02] [-3.44506864e-01 9.37072593e-01 -5.66566522e-02 -4.29266810e+01] [-1.61822409e-01 1.71790572e-04 9.86819882e-01 -2.63059949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:-42.94, Z:-26.31 [[ 9.25344356e-01 3.47783843e-01 1.50944430e-01 1.57495529e+02] [-3.43178263e-01 9.37574657e-01 -5.64131355e-02 -4.29352845e+01] [-1.61141249e-01 4.00729248e-04 9.86931273e-01 -2.63109210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.52, Y:-42.94, Z:-26.32 [[ 9.25681151e-01 3.46957443e-01 1.50781097e-01 1.57523171e+02] [-3.42353298e-01 9.37880723e-01 -5.63379853e-02 -4.29447459e+01] [-1.60961567e-01 5.30605391e-04 9.86960532e-01 -2.63159515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:157.55, Y:-42.95, Z:-26.32 [[ 9.26020777e-01 3.46133981e-01 1.50588143e-01 1.57550018e+02] [-3.41531539e-01 9.38184854e-01 -5.62617826e-02 -4.29543641e+01] [-1.60753630e-01 6.68979454e-04 9.86994338e-01 -2.63207712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:-42.96, Z:-26.33 [[ 9.26938232e-01 3.43373964e-01 1.51260815e-01 1.57575864e+02] [-3.38694516e-01 9.39198065e-01 -5.65068129e-02 -4.29646515e+01] [-1.61466833e-01 1.14711687e-03 9.86877473e-01 -2.63264692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:-42.98, Z:-26.33 [[ 9.27507322e-01 3.41667584e-01 1.51635848e-01 1.57603437e+02] [-3.36943480e-01 9.39819764e-01 -5.66383494e-02 -4.29757340e+01] [-1.61861855e-01 1.43977356e-03 9.86812377e-01 -2.63310922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.63, Y:-42.99, Z:-26.34 [[ 9.28026745e-01 3.40134342e-01 1.51904540e-01 1.57632656e+02] [-3.35373190e-01 9.40375302e-01 -5.67372431e-02 -4.29877165e+01] [-1.62145563e-01 1.70896885e-03 9.86765370e-01 -2.63352910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:157.66, Y:-43.00, Z:-26.34 [[ 9.28606337e-01 3.38344219e-01 1.52359638e-01 1.57660920e+02] [-3.33525303e-01 9.41020169e-01 -5.69378135e-02 -4.29993532e+01] [-1.62638072e-01 2.05702001e-03 9.86683650e-01 -2.63400853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:-43.01, Z:-26.35 [[ 9.29452172e-01 3.35579480e-01 1.53313639e-01 1.57688923e+02] [-3.30659397e-01 9.42008381e-01 -5.73111924e-02 -4.30110459e+01] [-1.63655193e-01 2.57341678e-03 9.86514245e-01 -2.63457699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.72, Y:-43.02, Z:-26.35 [[ 9.29604347e-01 3.34994359e-01 1.53670222e-01 1.57718725e+02] [-3.30040555e-01 9.42216269e-01 -5.74607149e-02 -4.30223787e+01] [-1.64039598e-01 2.69832511e-03 9.86450064e-01 -2.63508901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.75, Y:-43.03, Z:-26.36 [[ 9.29703637e-01 3.34709737e-01 1.53689750e-01 1.57746808e+02] [-3.29745847e-01 9.42317185e-01 -5.74978097e-02 -4.30337123e+01] [-1.64069569e-01 2.77736598e-03 9.86444860e-01 -2.63562462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:-43.05, Z:-26.36 [[ 9.29804261e-01 3.34664779e-01 1.53178074e-01 1.57774067e+02] [-3.29729007e-01 9.42333081e-01 -5.73336459e-02 -4.30474667e+01] [-1.63532318e-01 2.80181403e-03 9.86533999e-01 -2.63621425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.80, Y:-43.06, Z:-26.37 [[ 9.29496655e-01 3.35777558e-01 1.52608649e-01 1.57803191e+02] [-3.30888946e-01 9.41937658e-01 -5.71485217e-02 -4.30595966e+01] [-1.62937025e-01 2.62284462e-03 9.86632985e-01 -2.63665494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.83, Y:-43.07, Z:-26.37 [[ 9.29060096e-01 3.37155023e-01 1.52229525e-01 1.57832093e+02] [-3.32308522e-01 9.41446138e-01 -5.70106671e-02 -4.30712046e+01] [-1.62537331e-01 2.37916738e-03 9.86699526e-01 -2.63727052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.86, Y:-43.08, Z:-26.38 [[ 9.28368905e-01 3.39101773e-01 1.52122204e-01 1.57857986e+02] [-3.34287332e-01 9.40747480e-01 -5.69750739e-02 -4.30812472e+01] [-1.62428928e-01 2.04136141e-03 9.86718134e-01 -2.63775504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:-43.09, Z:-26.38 [[ 9.26634423e-01 3.43759607e-01 1.52243156e-01 1.57884381e+02] [-3.39000778e-01 9.39056890e-01 -5.70143007e-02 -4.30921927e+01] [-1.62564198e-01 1.22086533e-03 9.86697213e-01 -2.63826396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:-43.10, Z:-26.39 [[ 9.25862450e-01 3.46019629e-01 1.51819433e-01 1.57911274e+02] [-3.41318927e-01 9.38226920e-01 -5.68474842e-02 -4.31022615e+01] [-1.62111424e-01 8.14105035e-04 9.86772123e-01 -2.63872760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.94, Y:-43.11, Z:-26.39 [[ 9.25028343e-01 3.48391949e-01 1.51478100e-01 1.57936787e+02] [-3.43745384e-01 9.37348866e-01 -5.67116694e-02 -4.31115923e+01] [-1.61745714e-01 3.90003959e-04 9.86832393e-01 -2.63908638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.96, Y:-43.12, Z:-26.40 [[ 9.23111668e-01 3.52897092e-01 1.52736672e-01 1.57962997e+02] [-3.48235320e-01 9.35662051e-01 -5.71724512e-02 -4.31229301e+01] [-1.63085900e-01 -4.11747148e-04 9.86611788e-01 -2.63968507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.99, Y:-43.13, Z:-26.40 [[ 9.22286999e-01 3.54920749e-01 1.53029256e-01 1.57988281e+02] [-3.50269913e-01 9.34896067e-01 -5.72741827e-02 -4.31327185e+01] [-1.63394246e-01 -7.78310189e-04 9.86560548e-01 -2.64012309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.01, Y:-43.14, Z:-26.41 [[ 9.20841083e-01 3.59045919e-01 1.52110908e-01 1.58013815e+02] [-3.54509808e-01 9.33318663e-01 -5.69128241e-02 -4.31399298e+01] [-1.62402267e-01 -1.51714219e-03 9.86723468e-01 -2.64052767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-43.15, Z:-26.41 [[ 9.20246308e-01 3.60766075e-01 1.51639610e-01 1.58040790e+02] [-3.56283734e-01 9.32654543e-01 -5.67221758e-02 -4.31485146e+01] [-1.61890808e-01 -1.82835341e-03 9.86806984e-01 -2.64115606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:-43.16, Z:-26.42 [[ 9.19665104e-01 3.62367040e-01 1.51348025e-01 1.58066797e+02] [-3.57924929e-01 9.32033079e-01 -5.66046421e-02 -4.31572864e+01] [-1.61573022e-01 -2.11391688e-03 9.86858495e-01 -2.64167035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:-43.16, Z:-26.42 [[ 9.18982528e-01 3.64252330e-01 1.50968053e-01 1.58092685e+02] [-3.59859568e-01 9.31297076e-01 -5.64521685e-02 -4.31647112e+01] [-1.61158940e-01 -2.44874167e-03 9.86925428e-01 -2.64215759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.12, Y:-43.17, Z:-26.43 [[ 9.18947895e-01 3.64424937e-01 1.50762170e-01 1.58117712e+02] [-3.60048899e-01 9.31229440e-01 -5.63606335e-02 -4.31731211e+01] [-1.60933392e-01 -2.48926796e-03 9.86962130e-01 -2.64253613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:158.14, Y:-43.18, Z:-26.43 [[ 9.18994024e-01 3.64269916e-01 1.50855604e-01 1.58143146e+02] [-3.59888671e-01 9.31290123e-01 -5.63813104e-02 -4.31818429e+01] [-1.61028349e-01 -2.47713555e-03 9.86946673e-01 -2.64302652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:-43.19, Z:-26.44 [[ 9.19412622e-01 3.63016511e-01 1.51325620e-01 1.58169343e+02] [-3.58593239e-01 9.31779921e-01 -5.65426145e-02 -4.31896372e+01] [-1.61528077e-01 -2.27835071e-03 9.86865487e-01 -2.64358923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:-43.20, Z:-26.44 [[ 9.19776684e-01 3.61899148e-01 1.51788862e-01 1.58196156e+02] [-3.57435537e-01 9.32214886e-01 -5.67031073e-02 -4.31984447e+01] [-1.62020643e-01 -2.10053744e-03 9.86785133e-01 -2.64407685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:-43.21, Z:-26.45 [[ 9.20262721e-01 3.60461551e-01 1.52262916e-01 1.58223360e+02] [-3.55951705e-01 9.32772215e-01 -5.68715936e-02 -4.32077443e+01] [-1.62526640e-01 -1.86143712e-03 9.86702400e-01 -2.64457147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.25, Y:-43.22, Z:-26.45 [[ 9.20762305e-01 3.59055860e-01 1.52563647e-01 1.58249054e+02] [-3.54510297e-01 9.33314658e-01 -5.69754282e-02 -4.32167857e+01] [-1.62847249e-01 -1.62455720e-03 9.86649955e-01 -2.64506291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32587156000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:158.28, Y:-43.23, Z:-26.45 [[ 9.21323078e-01 3.57718312e-01 1.52320041e-01 1.58276261e+02] [-3.53171171e-01 9.33828494e-01 -5.68723780e-02 -4.32258304e+01] [-1.62585086e-01 -1.39721300e-03 9.86693538e-01 -2.64541049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.30, Y:-43.23, Z:-26.46 [[ 9.22332770e-01 3.55199521e-01 1.52103785e-01 1.58301837e+02] [-3.50632724e-01 9.34790019e-01 -5.67830374e-02 -4.32338803e+01] [-1.62354407e-01 -9.59708101e-04 9.86732043e-01 -2.64604412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.33, Y:-43.24, Z:-26.46 [[ 9.22847365e-01 3.54091707e-01 1.51564520e-01 1.58328856e+02] [-3.49544378e-01 9.35210386e-01 -5.65708499e-02 -4.32431377e+01] [-1.61775982e-01 -7.72266011e-04 9.86827206e-01 -2.64642521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:-43.25, Z:-26.47 [[ 9.23329931e-01 3.52882854e-01 1.51444807e-01 1.58354074e+02] [-3.48327983e-01 9.35667339e-01 -5.65176739e-02 -4.32520535e+01] [-1.61646077e-01 -5.68004107e-04 9.86848632e-01 -2.64703659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:-43.26, Z:-26.48 [[ 9.24639007e-01 3.49927357e-01 1.50311515e-01 1.58380873e+02] [-3.45403733e-01 9.36776836e-01 -5.60840405e-02 -4.32623108e+01] [-1.60433686e-01 -6.06670676e-05 9.87046619e-01 -2.64758760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:-43.27, Z:-26.48 [[ 9.25303498e-01 3.48257241e-01 1.50101071e-01 1.58406383e+02] [-3.43725849e-01 9.37398979e-01 -5.59972768e-02 -4.32720938e+01] [-1.60206048e-01 2.20858011e-04 9.87083570e-01 -2.64807520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.43, Y:-43.28, Z:-26.48 [[ 9.25930393e-01 3.46765047e-01 1.49689379e-01 1.58432934e+02] [-3.42240953e-01 9.37951909e-01 -5.58332051e-02 -4.32819387e+01] [-1.59762443e-01 4.67825907e-04 9.87155379e-01 -2.64842903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.46, Y:-43.29, Z:-26.49 [[ 9.26573655e-01 3.44758694e-01 1.50341957e-01 1.58459444e+02] [-3.40169882e-01 9.38690997e-01 -5.60683897e-02 -4.32918279e+01] [-1.60454706e-01 8.09687203e-04 9.87042872e-01 -2.64894978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.49, Y:-43.30, Z:-26.49 [[ 9.26585900e-01 3.44724594e-01 1.50344684e-01 1.58486552e+02] [-3.40136523e-01 9.38703522e-01 -5.60610748e-02 -4.33018521e+01] [-1.60454716e-01 8.07683379e-04 9.87042872e-01 -2.64944883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:-43.31, Z:-26.50 [[ 9.26718682e-01 3.44286069e-01 1.50531016e-01 1.58512986e+02] [-3.39681778e-01 9.38864383e-01 -5.61244992e-02 -4.33117899e+01] [-1.60651093e-01 8.78978828e-04 9.87010868e-01 -2.65000331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.54, Y:-43.32, Z:-26.50 [[ 9.26678717e-01 3.44296870e-01 1.50752184e-01 1.58539463e+02] [-3.39680435e-01 9.38860430e-01 -5.61987083e-02 -4.33212604e+01] [-1.60884300e-01 8.70579519e-04 9.86972889e-01 -2.65037408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.57, Y:-43.33, Z:-26.51 [[ 9.26462282e-01 3.44708035e-01 1.51142350e-01 1.58566075e+02] [-3.40074308e-01 9.38709615e-01 -5.63358135e-02 -4.33304002e+01] [-1.61298185e-01 7.93376084e-04 9.86905399e-01 -2.65093826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:158.59, Y:-43.34, Z:-26.51 [[ 9.25860355e-01 3.46307040e-01 1.51175520e-01 1.58593195e+02] [-3.41693803e-01 9.38121089e-01 -5.63397510e-02 -4.33391455e+01] [-1.61331796e-01 5.07003318e-04 9.86900093e-01 -2.65129171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.62, Y:-43.35, Z:-26.52 [[ 9.25529687e-01 3.47003046e-01 1.51603712e-01 1.58618840e+02] [-3.42374102e-01 9.37863925e-01 -5.64909874e-02 -4.33485115e+01] [-1.61786197e-01 3.78901066e-04 9.86825761e-01 -2.65196888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.65, Y:-43.36, Z:-26.52 [[ 9.25137028e-01 3.48058570e-01 1.51580706e-01 1.58646016e+02] [-3.43446846e-01 9.37472772e-01 -5.64718139e-02 -4.33573898e+01] [-1.61758284e-01 1.84250532e-04 9.86830393e-01 -2.65240331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:-43.37, Z:-26.53 [[ 9.25028454e-01 3.48313966e-01 1.51656652e-01 1.58672605e+02] [-3.43702335e-01 9.37377919e-01 -5.64919560e-02 -4.33664161e+01] [-1.61836534e-01 1.31921237e-04 9.86817571e-01 -2.65282268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.70, Y:-43.38, Z:-26.53 [[ 9.25012552e-01 3.48257624e-01 1.51882872e-01 1.58699590e+02] [-3.43632763e-01 9.37398853e-01 -5.65677909e-02 -4.33757390e+01] [-1.62074994e-01 1.33985807e-04 9.86778434e-01 -2.65334173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.73, Y:-43.38, Z:-26.54 [[ 9.25092638e-01 3.47887821e-01 1.52242159e-01 1.58726009e+02] [-3.43237310e-01 9.37536147e-01 -5.66932211e-02 -4.33849645e+01] [-1.62455409e-01 1.91292179e-04 9.86715868e-01 -2.65376707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:-43.39, Z:-26.54 [[ 9.25699717e-01 3.46338838e-01 1.52083670e-01 1.58752576e+02] [-3.41679199e-01 9.38109378e-01 -5.66226076e-02 -4.33946599e+01] [-1.62281725e-01 4.51705280e-04 9.86744363e-01 -2.65419974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:-43.41, Z:-26.55 [[ 9.25944806e-01 3.45536343e-01 1.52416704e-01 1.58778043e+02] [-3.40846711e-01 9.38405186e-01 -5.67382295e-02 -4.34052008e+01] [-1.62633746e-01 5.85736451e-04 9.86686334e-01 -2.65468638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:-43.42, Z:-26.55 [[ 9.26211018e-01 3.44627194e-01 1.52856951e-01 1.58804452e+02] [-3.39899715e-01 9.38739343e-01 -5.68913897e-02 -4.34156988e+01] [-1.63099154e-01 7.37397774e-04 9.86609407e-01 -2.65517594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:-43.43, Z:-26.56 [[ 9.26604153e-01 3.43532987e-01 1.52937343e-01 1.58831022e+02] [-3.38786699e-01 9.39140155e-01 -5.69152097e-02 -4.34257753e+01] [-1.63181852e-01 9.24731967e-04 9.86595575e-01 -2.65559432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:-43.44, Z:-26.56 [[ 9.26839557e-01 3.42988465e-01 1.52732934e-01 1.58857588e+02] [-3.38248962e-01 9.39339071e-01 -5.68308883e-02 -4.34360876e+01] [-1.62960351e-01 1.01135905e-03 9.86632100e-01 -2.65607309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:158.88, Y:-43.45, Z:-26.56 [[ 9.27186086e-01 3.42234858e-01 1.52319611e-01 1.58883665e+02] [-3.37512377e-01 9.39613760e-01 -5.66690146e-02 -4.34461760e+01] [-1.62515714e-01 1.13296807e-03 9.86705305e-01 -2.65647494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:-43.46, Z:-26.57 [[ 9.28102460e-01 3.40022135e-01 1.51693017e-01 1.58909089e+02] [-3.35310988e-01 9.40416229e-01 -5.64256770e-02 -4.34583653e+01] [-1.61840555e-01 1.50447401e-03 9.86815774e-01 -2.65713701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:158.94, Y:-43.47, Z:-26.58 [[ 9.28591418e-01 3.38831140e-01 1.51365242e-01 1.58935811e+02] [-3.34126111e-01 9.40845666e-01 -5.62954217e-02 -4.34692994e+01] [-1.61485973e-01 1.70036598e-03 9.86873543e-01 -2.65756667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10587156000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:158.96, Y:-43.48, Z:-26.58 [[ 9.28961664e-01 3.37762125e-01 1.51482584e-01 1.58961657e+02] [-3.33036279e-01 9.41229620e-01 -5.63350612e-02 -4.34797295e+01] [-1.61607745e-01 1.88391607e-03 9.86853276e-01 -2.65805123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:158.99, Y:-43.49, Z:-26.59 [[ 9.29222545e-01 3.36924993e-01 1.51746537e-01 1.58988877e+02] [-3.32172481e-01 9.41529309e-01 -5.64269735e-02 -4.34904852e+01] [-1.61885470e-01 2.02719205e-03 9.86807471e-01 -2.65856603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:-43.50, Z:-26.59 [[ 9.29828653e-01 3.35231045e-01 1.51785452e-01 1.59015149e+02] [-3.30454377e-01 9.42133096e-01 -5.64369911e-02 -4.35039605e+01] [-1.61921529e-01 2.31856446e-03 9.86800913e-01 -2.65917652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:-43.52, Z:-26.60 [[ 9.30062545e-01 3.34684680e-01 1.51558002e-01 1.59044236e+02] [-3.29915104e-01 9.42327095e-01 -5.63530856e-02 -4.35177212e+01] [-1.61677726e-01 2.41062016e-03 9.86840667e-01 -2.65975173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:-43.53, Z:-26.60 [[ 9.30356965e-01 3.34219518e-01 1.50775436e-01 1.59072607e+02] [-3.29487912e-01 9.42491917e-01 -5.60954768e-02 -4.35307823e+01] [-1.60852833e-01 2.51013387e-03 9.86975210e-01 -2.66031298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:-43.54, Z:-26.61 [[ 9.30967078e-01 3.33388802e-01 1.48836171e-01 1.59101823e+02] [-3.28763579e-01 9.42785712e-01 -5.54040702e-02 -4.35446712e+01] [-1.58791712e-01 2.64745311e-03 9.87308555e-01 -2.66092613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:-43.56, Z:-26.61 [[ 9.30971647e-01 3.33607465e-01 1.48316727e-01 1.59130852e+02] [-3.29012145e-01 9.42708401e-01 -5.52438130e-02 -4.35571201e+01] [-1.58249173e-01 2.63241932e-03 9.87395701e-01 -2.66149740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:-43.57, Z:-26.62 [[ 9.30828911e-01 3.34049065e-01 1.48218623e-01 1.59158831e+02] [-3.29460104e-01 9.42552135e-01 -5.52404947e-02 -4.35692721e+01] [-1.58156815e-01 2.58732660e-03 9.87410618e-01 -2.66202921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:-43.58, Z:-26.63 [[ 9.30211149e-01 3.35482443e-01 1.48858154e-01 1.59185014e+02] [-3.30871718e-01 9.42043517e-01 -5.54789859e-02 -4.35822239e+01] [-1.58843084e-01 2.35421822e-03 9.87301034e-01 -2.66250657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:-43.59, Z:-26.63 [[ 9.29762894e-01 3.36501790e-01 1.49356978e-01 1.59212028e+02] [-3.31873301e-01 9.41680290e-01 -5.56627658e-02 -4.35945256e+01] [-1.59377143e-01 2.18558072e-03 9.87215351e-01 -2.66299110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:-43.61, Z:-26.63 [[ 9.29374904e-01 3.37451161e-01 1.49629547e-01 1.59240116e+02] [-3.32817907e-01 9.41340856e-01 -5.57640840e-02 -4.36076032e+01] [-1.59670061e-01 2.02634749e-03 9.87168357e-01 -2.66348217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:-43.62, Z:-26.64 [[ 9.29015824e-01 3.38321245e-01 1.49894410e-01 1.59267213e+02] [-3.33682031e-01 9.41028791e-01 -5.58669636e-02 -4.36201547e+01] [-1.59955936e-01 1.88422193e-03 9.87122357e-01 -2.66399714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:159.30, Y:-43.64, Z:-26.64 [[ 9.28428954e-01 3.40012619e-01 1.49703360e-01 1.59296381e+02] [-3.35407145e-01 9.40419528e-01 -5.57956893e-02 -4.36358414e+01] [-1.59755202e-01 1.59075676e-03 9.87155380e-01 -2.66440842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:-43.65, Z:-26.65 [[ 9.28105439e-01 3.40728537e-01 1.50081171e-01 1.59324583e+02] [-3.36103381e-01 9.40160519e-01 -5.59706643e-02 -4.36484591e+01] [-1.60171194e-01 1.50388896e-03 9.87088105e-01 -2.66510138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:-43.66, Z:-26.66 [[ 9.27821767e-01 3.41530477e-01 1.50012338e-01 1.59352967e+02] [-3.36914758e-01 9.39869664e-01 -5.59773181e-02 -4.36615646e+01] [-1.60110006e-01 1.39560377e-03 9.87098191e-01 -2.66563358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.55587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.38, Y:-43.67, Z:-26.66 [[ 9.27482340e-01 3.42314882e-01 1.50323089e-01 1.59382677e+02] [-3.37686913e-01 9.39584418e-01 -5.61130110e-02 -4.36745381e+01] [-1.60449551e-01 1.28168690e-03 9.87043210e-01 -2.66614000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:-43.69, Z:-26.67 [[ 9.26786180e-01 3.44072900e-01 1.50602840e-01 1.59411334e+02] [-3.39444990e-01 9.38942392e-01 -5.62519632e-02 -4.36891942e+01] [-1.60762167e-01 1.01216245e-03 9.86992655e-01 -2.66669250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:-43.70, Z:-26.67 [[ 9.26450019e-01 3.45044860e-01 1.50447355e-01 1.59440897e+02] [-3.40434129e-01 9.38585789e-01 -5.62256274e-02 -4.37026341e+01] [-1.60608113e-01 8.72819443e-04 9.87017868e-01 -2.66725156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64587156000002 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:159.47, Y:-43.72, Z:-26.68 [[ 9.26058681e-01 3.46161336e-01 1.50291877e-01 1.59469823e+02] [-3.41569393e-01 9.38174731e-01 -5.62007554e-02 -4.37158070e+01] [-1.60454570e-01 7.10092223e-04 9.87042971e-01 -2.66767675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:159.50, Y:-43.73, Z:-26.68 [[ 9.25319481e-01 3.48006223e-01 1.50583951e-01 1.59496618e+02] [-3.43415206e-01 9.37492128e-01 -5.63427541e-02 -4.37299074e+01] [-1.60778898e-01 4.22229617e-04 9.86990359e-01 -2.66826186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:-43.74, Z:-26.69 [[ 9.24877762e-01 3.49164044e-01 1.50617383e-01 1.59526618e+02] [-3.44586182e-01 9.37061589e-01 -5.63555003e-02 -4.37432481e+01] [-1.60815079e-01 2.21280045e-04 9.86984530e-01 -2.66888266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:-43.76, Z:-26.69 [[ 9.24589196e-01 3.49995334e-01 1.50459580e-01 1.59556788e+02] [-3.45432716e-01 9.36751437e-01 -5.63292510e-02 -4.37557606e+01] [-1.60658203e-01 1.07755563e-04 9.87010096e-01 -2.66948686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:-43.77, Z:-26.70 [[ 9.24227293e-01 3.50928286e-01 1.50509962e-01 1.59586769e+02] [-3.46369476e-01 9.36402337e-01 -5.63812801e-02 -4.37686181e+01] [-1.60723667e-01 -2.29389359e-05 9.86999444e-01 -2.67004283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:-43.78, Z:-26.71 [[ 9.23991655e-01 3.51372416e-01 1.50920003e-01 1.59614903e+02] [-3.46788866e-01 9.36235772e-01 -5.65690934e-02 -4.37821345e+01] [-1.61173524e-01 -6.80063928e-05 9.86926082e-01 -2.67058978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.64, Y:-43.80, Z:-26.71 [[ 9.23988479e-01 3.51352163e-01 1.50986581e-01 1.59644619e+02] [-3.46759111e-01 9.36243375e-01 -5.66256377e-02 -4.37956451e+01] [-1.61255726e-01 -3.45354991e-05 9.86912656e-01 -2.67117275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:159.68, Y:-43.81, Z:-26.72 [[ 9.24208433e-01 3.50947698e-01 1.50580496e-01 1.59675006e+02] [-3.46368825e-01 9.36395060e-01 -5.65060034e-02 -4.38090648e+01] [-1.60833484e-01 6.69354901e-05 9.86981553e-01 -2.67164212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:-43.82, Z:-26.72 [[ 9.24254354e-01 3.50729871e-01 1.50805992e-01 1.59704154e+02] [-3.46128944e-01 9.36476662e-01 -5.66234504e-02 -4.38232718e+01] [-1.61085827e-01 1.36151828e-04 9.86940392e-01 -2.67229142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:159.73, Y:-43.84, Z:-26.73 [[ 9.24075051e-01 3.51107549e-01 1.51025791e-01 1.59733353e+02] [-3.46492738e-01 9.36335132e-01 -5.67389066e-02 -4.38352694e+01] [-1.61332213e-01 1.01667972e-04 9.86900150e-01 -2.67270405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.76, Y:-43.85, Z:-26.73 [[ 9.23638309e-01 3.52000718e-01 1.51617181e-01 1.59763395e+02] [-3.47356388e-01 9.35999730e-01 -5.69916304e-02 -4.38479991e+01] [-1.61974736e-01 -2.55433568e-05 9.86794905e-01 -2.67335839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:-43.86, Z:-26.74 [[ 9.23215195e-01 3.53230948e-01 1.51332751e-01 1.59792508e+02] [-3.48614934e-01 9.35536132e-01 -5.69190158e-02 -4.38605200e+01] [-1.61682815e-01 -2.08356832e-04 9.86842755e-01 -2.67385292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:-43.87, Z:-26.74 [[ 9.21961664e-01 3.56432721e-01 1.51467509e-01 1.59822564e+02] [-3.51846059e-01 9.34320699e-01 -5.70016015e-02 -4.38733125e+01] [-1.61836465e-01 -7.39954845e-04 9.86817314e-01 -2.67441173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:-43.88, Z:-26.75 [[ 9.21260161e-01 3.58079930e-01 1.51850185e-01 1.59852636e+02] [-3.53486567e-01 9.33690400e-01 -5.71793944e-02 -4.38843013e+01] [-1.62255854e-01 -9.99902516e-04 9.86748214e-01 -2.67497110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:159.88, Y:-43.89, Z:-26.75 [[ 9.20771809e-01 3.59371949e-01 1.51759936e-01 1.59881597e+02] [-3.54796142e-01 9.33193641e-01 -5.71780178e-02 -4.38948453e+01] [-1.62169583e-01 -1.19593311e-03 9.86762178e-01 -2.67540511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.91, Y:-43.91, Z:-26.76 [[ 9.20452202e-01 3.60277580e-01 1.51551346e-01 1.59911091e+02] [-3.55726145e-01 9.32844167e-01 -5.71022695e-02 -4.39059394e+01] [-1.61946456e-01 -1.35086621e-03 9.86798622e-01 -2.67597283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:-43.92, Z:-26.77 [[ 9.20440547e-01 3.60304282e-01 1.51558651e-01 1.59940005e+02] [-3.55747957e-01 9.32833887e-01 -5.71343120e-02 -4.39170595e+01] [-1.61964783e-01 -1.32794301e-03 9.86795645e-01 -2.67660367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:-43.93, Z:-26.77 [[ 9.20642514e-01 3.59814394e-01 1.51495755e-01 1.59970682e+02] [-3.55252821e-01 9.33023095e-01 -5.71256200e-02 -4.39291522e+01] [-1.61903659e-01 -1.22702012e-03 9.86805806e-01 -2.67719331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.00, Y:-43.94, Z:-26.78 [[ 9.21090538e-01 3.58821462e-01 1.51127031e-01 1.60000795e+02] [-3.54263419e-01 9.33405658e-01 -5.70202428e-02 -4.39412113e+01] [-1.61522913e-01 -1.01797253e-03 9.86868437e-01 -2.67776740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.03, Y:-43.95, Z:-26.78 [[ 9.22264901e-01 3.55622293e-01 1.51526356e-01 1.60029639e+02] [-3.50991415e-01 9.34629661e-01 -5.72050949e-02 -4.39543827e+01] [-1.61964434e-01 -4.26199013e-04 9.86796504e-01 -2.67829440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.06, Y:-43.97, Z:-26.79 [[ 9.22752314e-01 3.54202541e-01 1.51883927e-01 1.60058798e+02] [-3.49525268e-01 9.35168722e-01 -5.73720181e-02 -4.39668765e+01] [-1.62358413e-01 -1.47108067e-04 9.86731840e-01 -2.67880219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:-43.98, Z:-26.79 [[ 9.23264588e-01 3.52857108e-01 1.51902478e-01 1.60088069e+02] [-3.48155503e-01 9.35677213e-01 -5.74099155e-02 -4.39789772e+01] [-1.62389184e-01 1.18858430e-04 9.86726780e-01 -2.67930615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:-43.99, Z:-26.80 [[ 9.23653085e-01 3.51814830e-01 1.51958227e-01 1.60117802e+02] [-3.47090693e-01 9.36069557e-01 -5.74615985e-02 -4.39913815e+01] [-1.62459313e-01 3.31296327e-04 9.86715188e-01 -2.67983576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:-44.00, Z:-26.80 [[ 9.24238413e-01 3.49814003e-01 1.53014767e-01 1.60147895e+02] [-3.44990625e-01 9.36818896e-01 -5.78949362e-02 -4.40049593e+01] [-1.63599585e-01 7.20063641e-04 9.86526562e-01 -2.68036723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:-44.02, Z:-26.81 [[ 9.24505487e-01 3.49126454e-01 1.52971646e-01 1.60177890e+02] [-3.44290950e-01 9.37075214e-01 -5.79118722e-02 -4.40185077e+01] [-1.63564504e-01 8.73090278e-04 9.86532255e-01 -2.68093769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:-44.03, Z:-26.82 [[ 9.24721234e-01 3.48566334e-01 1.52944926e-01 1.60207934e+02] [-3.43719429e-01 9.37283577e-01 -5.79348777e-02 -4.40319120e+01] [-1.63546915e-01 1.00346911e-03 9.86535047e-01 -2.68153482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:-44.05, Z:-26.82 [[ 9.25062887e-01 3.48051327e-01 1.52049102e-01 1.60237575e+02] [-3.43248975e-01 9.37474810e-01 -5.76291718e-02 -4.40458140e+01] [-1.62600113e-01 1.11990950e-03 9.86691415e-01 -2.68207977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:160.27, Y:-44.06, Z:-26.83 [[ 9.25042120e-01 3.48242982e-01 1.51736291e-01 1.60266614e+02] [-3.43457533e-01 9.37403638e-01 -5.75442680e-02 -4.40580847e+01] [-1.62277539e-01 1.11589943e-03 9.86744524e-01 -2.68265056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:160.30, Y:-44.07, Z:-26.83 [[ 9.25013703e-01 3.48323120e-01 1.51725584e-01 1.60297435e+02] [-3.43534113e-01 9.37373843e-01 -5.75724864e-02 -4.40699151e+01] [-1.62277421e-01 1.13242510e-03 9.86744524e-01 -2.68322076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:-44.08, Z:-26.84 [[ 9.24978527e-01 3.48787874e-01 1.50869959e-01 1.60327550e+02] [-3.44057089e-01 9.37201100e-01 -5.72609628e-02 -4.40831383e+01] [-1.61367421e-01 1.05728212e-03 9.86893833e-01 -2.68384091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.36, Y:-44.10, Z:-26.84 [[ 9.24549042e-01 3.50240336e-01 1.50135860e-01 1.60356430e+02] [-3.45569414e-01 9.36659499e-01 -5.70154688e-02 -4.40965521e+01] [-1.60595296e-01 8.31236014e-04 9.87019990e-01 -2.68441868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:160.39, Y:-44.11, Z:-26.85 [[ 9.24222059e-01 3.51111548e-01 1.50114180e-01 1.60387362e+02] [-3.46448381e-01 9.36333369e-01 -5.70380648e-02 -4.41086389e+01] [-1.60583639e-01 7.09022900e-04 9.87021982e-01 -2.68486628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.42, Y:-44.12, Z:-26.86 [[ 9.23822919e-01 3.52130951e-01 1.50183248e-01 1.60417306e+02] [-3.47471407e-01 9.35950573e-01 -5.70976910e-02 -4.41210627e+01] [-1.60669962e-01 5.63770972e-04 9.87008027e-01 -2.68552718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:-44.13, Z:-26.86 [[ 9.23520973e-01 3.52797452e-01 1.50475814e-01 1.60445890e+02] [-3.48122879e-01 9.35699592e-01 -5.72427693e-02 -4.41330384e+01] [-1.60995261e-01 4.80824524e-04 9.86955062e-01 -2.68611199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66587156000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:160.47, Y:-44.15, Z:-26.87 [[ 9.22883077e-01 3.54252944e-01 1.50969127e-01 1.60474177e+02] [-3.49561617e-01 9.35149606e-01 -5.74620751e-02 -4.41471767e+01] [-1.61534829e-01 2.57764430e-04 9.86866978e-01 -2.68658052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:160.50, Y:-44.16, Z:-26.87 [[ 9.22454085e-01 3.55274054e-01 1.51191295e-01 1.60502792e+02] [-3.50577279e-01 9.34762181e-01 -5.75780889e-02 -4.41595199e+01] [-1.61783905e-01 1.08910516e-04 9.86826204e-01 -2.68710287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.53, Y:-44.17, Z:-26.88 [[ 9.22026750e-01 3.56325351e-01 1.51323879e-01 1.60532490e+02] [-3.51629506e-01 9.34361944e-01 -5.76580276e-02 -4.41715546e+01] [-1.61936290e-01 -4.76968673e-05 9.86801214e-01 -2.68771945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:-44.18, Z:-26.88 [[ 9.21134439e-01 3.58498128e-01 1.51625977e-01 1.60561725e+02] [-3.53807083e-01 9.33530360e-01 -5.78067038e-02 -4.41845426e+01] [-1.62271048e-01 -3.98598971e-04 9.86746142e-01 -2.68827403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:-44.20, Z:-26.89 [[ 9.20731566e-01 3.59484580e-01 1.51737338e-01 1.60591576e+02] [-3.54794770e-01 9.33150867e-01 -5.78803075e-02 -4.41976706e+01] [-1.62400907e-01 -5.43387764e-04 9.86724708e-01 -2.68881286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:-44.21, Z:-26.89 [[ 9.20357348e-01 3.60470751e-01 1.51668022e-01 1.60621484e+02] [-3.55793093e-01 9.32770265e-01 -5.78870238e-02 -4.42105564e+01] [-1.62338000e-01 -6.85687007e-04 9.86734971e-01 -2.68936133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:160.65, Y:-44.22, Z:-26.90 [[ 9.20004515e-01 3.61470642e-01 1.51428751e-01 1.60650983e+02] [-3.56815762e-01 9.32383123e-01 -5.78292660e-02 -4.42224272e+01] [-1.62093194e-01 -8.28979467e-04 9.86775106e-01 -2.68978174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87587156000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:160.68, Y:-44.23, Z:-26.90 [[ 9.19236601e-01 3.63288769e-01 1.51741032e-01 1.60681125e+02] [-3.58633973e-01 9.31675915e-01 -5.79798498e-02 -4.42348000e+01] [-1.62436894e-01 -1.12228920e-03 9.86718296e-01 -2.69036199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:-44.25, Z:-26.91 [[ 9.18720431e-01 3.64530874e-01 1.51888158e-01 1.60711394e+02] [-3.59878322e-01 9.31190379e-01 -5.80695408e-02 -4.42474844e+01] [-1.62604931e-01 -1.31158171e-03 9.86690385e-01 -2.69100114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.74, Y:-44.26, Z:-26.92 [[ 9.18059488e-01 3.66074805e-01 1.52170999e-01 1.60740742e+02] [-3.61420315e-01 9.30584126e-01 -5.82111753e-02 -4.42593364e+01] [-1.62917561e-01 -1.55636867e-03 9.86638458e-01 -2.69157977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:-44.27, Z:-26.92 [[ 9.16633769e-01 3.69830270e-01 1.51684229e-01 1.60770346e+02] [-3.65251610e-01 9.29096759e-01 -5.80557768e-02 -4.42695096e+01] [-1.62400110e-01 -2.18702348e-03 9.86722566e-01 -2.69209118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:-44.28, Z:-26.93 [[ 9.15860429e-01 3.71850228e-01 1.51416920e-01 1.60801109e+02] [-3.67310205e-01 9.28289340e-01 -5.79837462e-02 -4.42799607e+01] [-1.62119982e-01 -2.51196139e-03 9.86767856e-01 -2.69267001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:160.83, Y:-44.29, Z:-26.93 [[ 9.15065976e-01 3.73875746e-01 1.51232224e-01 1.60832068e+02] [-3.69368856e-01 9.27474466e-01 -5.79462169e-02 -4.42906634e+01] [-1.61928711e-01 -2.83586198e-03 9.86798384e-01 -2.69319684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.86, Y:-44.30, Z:-26.94 [[ 9.14463769e-01 3.75539933e-01 1.50750698e-01 1.60861156e+02] [-3.71078898e-01 9.26801066e-01 -5.77947756e-02 -4.43010055e+01] [-1.61420153e-01 -3.08917439e-03 9.86880941e-01 -2.69388359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:-44.31, Z:-26.94 [[ 9.13902912e-01 3.77144558e-01 1.50144763e-01 1.60891892e+02] [-3.72736062e-01 9.26148419e-01 -5.75928366e-02 -4.43122017e+01] [-1.60777159e-01 -3.33010648e-03 9.86985114e-01 -2.69449672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.92, Y:-44.32, Z:-26.95 [[ 9.13887220e-01 3.76959243e-01 1.50704608e-01 1.60922583e+02] [-3.72509779e-01 9.26224041e-01 -5.78402202e-02 -4.43236355e+01] [-1.61389637e-01 -3.27950219e-03 9.86885318e-01 -2.69503385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-44.33, Z:-26.96 [[ 9.14112793e-01 3.76125861e-01 1.51417103e-01 1.60952146e+02] [-3.71617058e-01 9.26563343e-01 -5.81475150e-02 -4.43346053e+01] [-1.62168322e-01 -3.11579118e-03 9.86758191e-01 -2.69559557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:-44.35, Z:-26.96 [[ 9.14654188e-01 3.74807553e-01 1.51416691e-01 1.60982995e+02] [-3.70277551e-01 9.27098215e-01 -5.81673060e-02 -4.43464234e+01] [-1.62179690e-01 -2.86323155e-03 9.86757088e-01 -2.69615455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:161.01, Y:-44.36, Z:-26.97 [[ 9.15981376e-01 3.71237604e-01 1.52186597e-01 1.61013025e+02] [-3.66606692e-01 9.28535272e-01 -5.84960005e-02 -4.43581057e+01] [-1.63026538e-01 -2.21137788e-03 9.86619206e-01 -2.69666707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:-44.37, Z:-26.97 [[ 9.16625355e-01 3.69559241e-01 1.52393981e-01 1.61043352e+02] [-3.64887055e-01 9.29205262e-01 -5.86090377e-02 -4.43702722e+01] [-1.63264800e-01 -1.88406082e-03 9.86580486e-01 -2.69729833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:-44.38, Z:-26.98 [[ 9.17150869e-01 3.68337382e-01 1.52190199e-01 1.61072873e+02] [-3.63655355e-01 9.29690761e-01 -5.85651125e-02 -4.43816352e+01] [-1.63061542e-01 -1.63173695e-03 9.86614550e-01 -2.69782150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.10, Y:-44.39, Z:-26.98 [[ 9.17616409e-01 3.67335746e-01 1.51804398e-01 1.61102453e+02] [-3.62658695e-01 9.30087326e-01 -5.84485904e-02 -4.43925031e+01] [-1.62661603e-01 -1.41979925e-03 9.86680894e-01 -2.69837352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:-44.40, Z:-26.99 [[ 9.17974223e-01 3.66859345e-01 1.50789743e-01 1.61132012e+02] [-3.62233531e-01 9.30275518e-01 -5.80889832e-02 -4.44045213e+01] [-1.61586493e-01 -1.29691183e-03 9.86857702e-01 -2.69901710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:-44.42, Z:-27.00 [[ 9.17988227e-01 3.67196759e-01 1.49880473e-01 1.61162609e+02] [-3.62626117e-01 9.30142357e-01 -5.77710557e-02 -4.44165264e+01] [-1.60623521e-01 -1.31742485e-03 9.87014868e-01 -2.69961597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:-44.43, Z:-27.00 [[ 9.17842677e-01 3.68001839e-01 1.48793370e-01 1.61193285e+02] [-3.63502938e-01 9.29823983e-01 -5.73844506e-02 -4.44275231e+01] [-1.59469227e-01 -1.41692929e-03 9.87201883e-01 -2.70014781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:-44.44, Z:-27.01 [[ 9.17380545e-01 3.69460776e-01 1.48025914e-01 1.61224108e+02] [-3.65022141e-01 9.29244894e-01 -5.71205992e-02 -4.44374734e+01] [-1.58656146e-01 -1.63140968e-03 9.87332551e-01 -2.70074207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:-44.45, Z:-27.01 [[ 9.16994565e-01 3.70346939e-01 1.48202946e-01 1.61254418e+02] [-3.65903779e-01 9.28891847e-01 -5.72220379e-02 -4.44490954e+01] [-1.58856515e-01 -1.75572023e-03 9.87300119e-01 -2.70132199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:-44.46, Z:-27.02 [[ 9.16633460e-01 3.71216714e-01 1.48260757e-01 1.61283520e+02] [-3.66775995e-01 9.28544362e-01 -5.72777126e-02 -4.44603875e+01] [-1.58929134e-01 -1.87581894e-03 9.87288211e-01 -2.70185165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:161.31, Y:-44.47, Z:-27.02 [[ 9.16249424e-01 3.72005815e-01 1.48656203e-01 1.61314003e+02] [-3.67546551e-01 9.28228268e-01 -5.74614273e-02 -4.44717290e+01] [-1.59362875e-01 -1.98907513e-03 9.87218070e-01 -2.70224505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:-44.48, Z:-27.03 [[ 9.15589280e-01 3.72974531e-01 1.50287293e-01 1.61344703e+02] [-3.68423730e-01 9.27839089e-01 -5.81255512e-02 -4.44816783e+01] [-1.61121775e-01 -2.15027328e-03 9.86932191e-01 -2.70272994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:-44.49, Z:-27.03 [[ 9.15228414e-01 3.73745260e-01 1.50570351e-01 1.61374232e+02] [-3.69182824e-01 9.27528629e-01 -5.82639174e-02 -4.44923967e+01] [-1.61434174e-01 -2.26319484e-03 9.86880887e-01 -2.70324442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-44.50, Z:-27.04 [[ 9.14992444e-01 3.74320532e-01 1.50575449e-01 1.61403318e+02] [-3.69760788e-01 9.27296433e-01 -5.82948121e-02 -4.45027601e+01] [-1.61449021e-01 -2.33758388e-03 9.86878285e-01 -2.70375317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.43, Y:-44.51, Z:-27.04 [[ 9.14294377e-01 3.75781842e-01 1.51174733e-01 1.61432415e+02] [-3.71200713e-01 9.26704566e-01 -5.85549218e-02 -4.45115939e+01] [-1.62098191e-01 -2.57973282e-03 9.86771261e-01 -2.70423313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:-44.52, Z:-27.05 [[ 9.14103314e-01 3.76225179e-01 1.51227463e-01 1.61461193e+02] [-3.71646856e-01 9.26524443e-01 -5.85753460e-02 -4.45214772e+01] [-1.62153461e-01 -2.65929335e-03 9.86761969e-01 -2.70480892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.49, Y:-44.53, Z:-27.05 [[ 9.13857644e-01 3.76881214e-01 1.51078648e-01 1.61492044e+02] [-3.72321127e-01 9.26257444e-01 -5.85160270e-02 -4.45332683e+01] [-1.61991314e-01 -2.77445411e-03 9.86788284e-01 -2.70533882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:-44.54, Z:-27.06 [[ 9.13758835e-01 3.77441054e-01 1.50276554e-01 1.61522311e+02] [-3.72931659e-01 9.26029297e-01 -5.82384664e-02 -4.45444933e+01] [-1.61142080e-01 -2.82697158e-03 9.86927170e-01 -2.70595274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:-44.55, Z:-27.06 [[ 9.13642804e-01 3.77837169e-01 1.49986335e-01 1.61551708e+02] [-3.73345108e-01 9.25867645e-01 -5.81595602e-02 -4.45547335e+01] [-1.60842339e-01 -2.85960089e-03 9.86975970e-01 -2.70647135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:-44.57, Z:-27.07 [[ 9.13608636e-01 3.77952624e-01 1.49903548e-01 1.61580910e+02] [-3.73462501e-01 9.25820545e-01 -5.81556497e-02 -4.45650983e+01] [-1.60763865e-01 -2.85185003e-03 9.86988777e-01 -2.70701014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.61, Y:-44.58, Z:-27.08 [[ 9.13692794e-01 3.77762457e-01 1.49869960e-01 1.61608918e+02] [-3.73271104e-01 9.25898272e-01 -5.81469965e-02 -4.45751460e+01] [-1.60730090e-01 -2.81363392e-03 9.86994388e-01 -2.70752032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:-44.58, Z:-27.08 [[ 9.13795131e-01 3.77215660e-01 1.50621393e-01 1.61636397e+02] [-3.72671489e-01 9.26121421e-01 -5.84386488e-02 -4.45845251e+01] [-1.61537672e-01 -2.73134611e-03 9.86862767e-01 -2.70803025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:-44.60, Z:-27.09 [[ 9.13790421e-01 3.77138003e-01 1.50844267e-01 1.61665695e+02] [-3.72579846e-01 9.26153065e-01 -5.85214356e-02 -4.45956168e+01] [-1.61775538e-01 -2.72520641e-03 9.86823818e-01 -2.70857457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:-44.61, Z:-27.09 [[ 9.13735411e-01 3.77300395e-01 1.50771387e-01 1.61693927e+02] [-3.72743818e-01 9.26086925e-01 -5.85239493e-02 -4.46064283e+01] [-1.61708520e-01 -2.72369773e-03 9.86834807e-01 -2.70905720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:-44.62, Z:-27.10 [[ 9.13674841e-01 3.77525111e-01 1.50575813e-01 1.61720700e+02] [-3.72983107e-01 9.25995240e-01 -5.84501258e-02 -4.46163574e+01] [-1.61498876e-01 -2.75782513e-03 9.86869043e-01 -2.70959682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:-44.63, Z:-27.10 [[ 9.13366134e-01 3.78417882e-01 1.50207230e-01 1.61749174e+02] [-3.73909896e-01 9.25630304e-01 -5.83089294e-02 -4.46252653e+01] [-1.61101506e-01 -2.90656830e-03 9.86933562e-01 -2.71013317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.78, Y:-44.63, Z:-27.11 [[ 9.13198657e-01 3.78896275e-01 1.50019421e-01 1.61776589e+02] [-3.74405992e-01 9.25434326e-01 -5.82362586e-02 -4.46344553e+01] [-1.60898623e-01 -2.98689689e-03 9.86966419e-01 -2.71065538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:-44.64, Z:-27.11 [[ 9.12906111e-01 3.80031123e-01 1.48925414e-01 1.61806537e+02] [-3.75622201e-01 9.24968277e-01 -5.78069962e-02 -4.46427567e+01] [-1.59719741e-01 -3.16733155e-03 9.87157319e-01 -2.71119149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:-44.65, Z:-27.12 [[ 9.12867752e-01 3.80289936e-01 1.48499266e-01 1.61834027e+02] [-3.75909019e-01 9.24861790e-01 -5.76461481e-02 -4.46515722e+01] [-1.59263547e-01 -3.19890373e-03 9.87230920e-01 -2.71170171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:-44.66, Z:-27.12 [[ 9.12814669e-01 3.80408093e-01 1.48522937e-01 1.61859665e+02] [-3.76027569e-01 9.24813119e-01 -5.76538114e-02 -4.46599788e+01] [-1.59287937e-01 -3.22147411e-03 9.87226912e-01 -2.71222536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:-44.67, Z:-27.13 [[ 9.12826406e-01 3.80423775e-01 1.48410589e-01 1.61886013e+02] [-3.76051747e-01 9.24806634e-01 -5.76001091e-02 -4.46691407e+01] [-1.59163548e-01 -3.23116058e-03 9.87246942e-01 -2.71273336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:-44.68, Z:-27.13 [[ 9.12935494e-01 3.79950910e-01 1.48949959e-01 1.61912094e+02] [-3.75541884e-01 9.25001227e-01 -5.78015784e-02 -4.46780466e+01] [-1.59740657e-01 -3.16783561e-03 9.87153933e-01 -2.71313822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:-44.69, Z:-27.14 [[ 9.13021051e-01 3.79433796e-01 1.49741626e-01 1.61938776e+02] [-3.74972210e-01 9.25213685e-01 -5.80988664e-02 -4.46865085e+01] [-1.60587675e-01 -3.10346046e-03 9.87016701e-01 -2.71355787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.96, Y:-44.69, Z:-27.14 [[ 9.13130087e-01 3.78891992e-01 1.50447010e-01 1.61963991e+02] [-3.74382650e-01 9.25435927e-01 -5.83607499e-02 -4.46943898e+01] [-1.61341489e-01 -3.03379357e-03 9.86893976e-01 -2.71398226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:161.99, Y:-44.70, Z:-27.14 [[ 9.13306798e-01 3.78342171e-01 1.50757734e-01 1.61989421e+02] [-3.73808901e-01 9.25661096e-01 -5.84674389e-02 -4.47024279e+01] [-1.61671267e-01 -2.95587323e-03 9.86840243e-01 -2.71438552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:-44.71, Z:-27.15 [[ 9.13905485e-01 3.76732231e-01 1.51160812e-01 1.62015829e+02] [-3.72154927e-01 9.26318295e-01 -5.86099598e-02 -4.47093092e+01] [-1.62103287e-01 -2.69127741e-03 9.86770126e-01 -2.71490051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:-44.72, Z:-27.15 [[ 9.14152009e-01 3.75985262e-01 1.51529494e-01 1.62042982e+02] [-3.71377235e-01 9.26622061e-01 -5.87409952e-02 -4.47184279e+01] [-1.62496321e-01 -2.57640584e-03 9.86705786e-01 -2.71536157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:-44.73, Z:-27.16 [[ 9.14483374e-01 3.75060971e-01 1.51820379e-01 1.62068723e+02] [-3.70423837e-01 9.26996974e-01 -5.88454911e-02 -4.47268744e+01] [-1.62807679e-01 -2.42466398e-03 9.86654844e-01 -2.71587789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:-44.73, Z:-27.16 [[ 9.15512125e-01 3.72584377e-01 1.51718262e-01 1.62095328e+02] [-3.67921428e-01 9.27996181e-01 -5.87954938e-02 -4.47345165e+01] [-1.62700250e-01 -1.99241219e-03 9.86673532e-01 -2.71635605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:-44.74, Z:-27.17 [[ 9.15532430e-01 3.72533073e-01 1.51721716e-01 1.62121560e+02] [-3.67870902e-01 9.28016777e-01 -5.87865797e-02 -4.47445413e+01] [-1.62700243e-01 -1.99298442e-03 9.86673532e-01 -2.71684088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:-44.75, Z:-27.17 [[ 9.16024154e-01 3.71207562e-01 1.52002284e-01 1.62148430e+02] [-3.66511497e-01 9.28548229e-01 -5.88855628e-02 -4.47537629e+01] [-1.63000217e-01 -1.76998664e-03 9.86624445e-01 -2.71737191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:-44.76, Z:-27.18 [[ 9.16548401e-01 3.70025738e-01 1.51723374e-01 1.62175371e+02] [-3.65332267e-01 9.29020186e-01 -5.87692863e-02 -4.47631532e+01] [-1.62700226e-01 -1.56454895e-03 9.86674307e-01 -2.71785942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:-44.77, Z:-27.18 [[ 9.17155153e-01 3.68834513e-01 1.50955383e-01 1.62202083e+02] [-3.64174038e-01 9.29494093e-01 -5.84636652e-02 -4.47729384e+01] [-1.61875554e-01 -1.35377970e-03 9.86810251e-01 -2.71836965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:-44.78, Z:-27.19 [[ 9.18213310e-01 3.66615527e-01 1.49924559e-01 1.62228938e+02] [-3.61990783e-01 9.30372037e-01 -5.80564006e-02 -4.47812291e+01] [-1.60769996e-01 -9.63148895e-04 9.86991429e-01 -2.71891329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:-44.79, Z:-27.19 [[ 9.18687287e-01 3.65638745e-01 1.49405409e-01 1.62254923e+02] [-3.61034656e-01 9.30756506e-01 -5.78472466e-02 -4.47897625e+01] [-1.60211251e-01 -7.97000313e-04 9.87082428e-01 -2.71942327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:-44.80, Z:-27.20 [[ 9.19199153e-01 3.64467354e-01 1.49118960e-01 1.62281265e+02] [-3.59867376e-01 9.31215972e-01 -5.77259533e-02 -4.47991812e+01] [-1.59901182e-01 -6.01401332e-04 9.87132843e-01 -2.71992037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-44.81, Z:-27.20 [[ 9.19677812e-01 3.63321174e-01 1.48964581e-01 1.62307867e+02] [-3.58717150e-01 9.31663865e-01 -5.76580408e-02 -4.48091041e+01] [-1.59733304e-01 -4.09329013e-04 9.87160121e-01 -2.72041672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:-44.82, Z:-27.21 [[ 9.20646697e-01 3.60721323e-01 1.49297642e-01 1.62333447e+02] [-3.56063856e-01 9.32673644e-01 -5.77789305e-02 -4.48186916e+01] [-1.60088068e-01 3.44873825e-05 9.87102735e-01 -2.72085461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:-44.83, Z:-27.21 [[ 9.21011691e-01 3.59548627e-01 1.49874110e-01 1.62360251e+02] [-3.54841127e-01 9.33126321e-01 -5.79917484e-02 -4.48284809e+01] [-1.60702330e-01 2.29580305e-04 9.87002892e-01 -2.72136043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:-44.84, Z:-27.22 [[ 9.21331181e-01 3.58574870e-01 1.50242859e-01 1.62385538e+02] [-3.53832456e-01 9.33500888e-01 -5.81264579e-02 -4.48380075e+01] [-1.61094529e-01 3.92918448e-04 9.86938903e-01 -2.72182526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:-44.85, Z:-27.22 [[ 9.21889407e-01 3.56936585e-01 1.50718930e-01 1.62412117e+02] [-3.52143775e-01 9.34128376e-01 -5.83004169e-02 -4.48480371e+01] [-1.61600381e-01 6.71803699e-04 9.86856051e-01 -2.72228403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:162.44, Y:-44.86, Z:-27.23 [[ 9.22150417e-01 3.56339744e-01 1.50534367e-01 1.62440453e+02] [-3.51552220e-01 9.34356141e-01 -5.82206033e-02 -4.48592609e+01] [-1.61399025e-01 7.67462582e-04 9.86888933e-01 -2.72275184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:162.47, Y:-44.87, Z:-27.23 [[ 9.22509177e-01 3.55399992e-01 1.50557841e-01 1.62468129e+02] [-3.50598545e-01 9.34713848e-01 -5.82295707e-02 -4.48707763e+01] [-1.61423288e-01 9.31953335e-04 9.86884823e-01 -2.72334058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.50, Y:-44.88, Z:-27.24 [[ 9.22873649e-01 3.54314147e-01 1.50883111e-01 1.62498108e+02] [-3.49477300e-01 9.35125778e-01 -5.83557780e-02 -4.48831611e+01] [-1.61770964e-01 1.12478765e-03 9.86827690e-01 -2.72396724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:162.53, Y:-44.90, Z:-27.24 [[ 9.23203000e-01 3.53451462e-01 1.50891636e-01 1.62526940e+02] [-3.48596974e-01 9.35451950e-01 -5.83934795e-02 -4.48956553e+01] [-1.61791136e-01 1.30866774e-03 9.86824156e-01 -2.72448916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.56, Y:-44.91, Z:-27.25 [[ 9.23717409e-01 3.51697620e-01 1.51838507e-01 1.62556462e+02] [-3.46752725e-01 9.36112194e-01 -5.87920784e-02 -4.49091326e+01] [-1.62814912e-01 1.65685027e-03 9.86655238e-01 -2.72491089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:-44.92, Z:-27.26 [[ 9.23953346e-01 3.51029762e-01 1.51948414e-01 1.62585736e+02] [-3.46062926e-01 9.36362555e-01 -5.88694959e-02 -4.49217339e+01] [-1.62943750e-01 1.80895508e-03 9.86633702e-01 -2.72551124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.62, Y:-44.94, Z:-27.26 [[ 9.24385400e-01 3.50343281e-01 1.50901351e-01 1.62615055e+02] [-3.45430837e-01 9.36619344e-01 -5.84956468e-02 -4.49372628e+01] [-1.61830681e-01 1.94654184e-03 9.86816620e-01 -2.72607100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:-44.95, Z:-27.27 [[ 9.24562205e-01 3.50268034e-01 1.49990108e-01 1.62644568e+02] [-3.45408895e-01 9.36647421e-01 -5.81747748e-02 -4.49510438e+01] [-1.60864612e-01 1.97828065e-03 9.86974500e-01 -2.72669047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:-44.97, Z:-27.27 [[ 9.24467280e-01 3.50791656e-01 1.49350133e-01 1.62673821e+02] [-3.45975751e-01 9.36451583e-01 -5.79587038e-02 -4.49651118e+01] [-1.60190598e-01 1.90940073e-03 9.87084255e-01 -2.72727577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.70, Y:-44.98, Z:-27.28 [[ 9.24191603e-01 3.51697914e-01 1.48924335e-01 1.62702976e+02] [-3.46915858e-01 9.36111859e-01 -5.78271133e-02 -4.49783826e+01] [-1.59747511e-01 1.77911912e-03 9.87156303e-01 -2.72774603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:-44.99, Z:-27.28 [[ 9.22694751e-01 3.55143266e-01 1.50025522e-01 1.62732561e+02] [-3.50329718e-01 9.34811086e-01 -5.82865537e-02 -4.49910989e+01] [-1.60945598e-01 1.22229837e-03 9.86962522e-01 -2.72823727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:-45.00, Z:-27.29 [[ 9.21652428e-01 3.57547825e-01 1.50719459e-01 1.62762706e+02] [-3.52715793e-01 9.33894454e-01 -5.85894046e-02 -4.50040512e+01] [-1.61704581e-01 8.37933545e-04 9.86838855e-01 -2.72874618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09587156000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:162.79, Y:-45.02, Z:-27.29 [[ 9.20583892e-01 3.60171242e-01 1.51003223e-01 1.62792565e+02] [-3.55350187e-01 9.32886117e-01 -5.87344636e-02 -4.50176505e+01] [-1.62023275e-01 4.10977502e-04 9.86786851e-01 -2.72919110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:162.82, Y:-45.03, Z:-27.30 [[ 9.19362917e-01 3.63091222e-01 1.51448312e-01 1.62821044e+02] [-3.58274932e-01 9.31753594e-01 -5.89433085e-02 -4.50299300e+01] [-1.62514307e-01 -6.98417767e-05 9.86706185e-01 -2.72976844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:-45.04, Z:-27.30 [[ 9.17127143e-01 3.68729741e-01 1.51380913e-01 1.62848698e+02] [-3.63990110e-01 9.29536059e-01 -5.89399308e-02 -4.50409431e+01] [-1.62446923e-01 -1.04574498e-03 9.86716729e-01 -2.73021398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:-45.05, Z:-27.31 [[ 9.15924024e-01 3.71566368e-01 1.51728757e-01 1.62877056e+02] [-3.66843395e-01 9.28405097e-01 -5.90753630e-02 -4.50521163e+01] [-1.62816169e-01 -1.55214804e-03 9.86655201e-01 -2.73072787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:-45.06, Z:-27.31 [[ 9.14817541e-01 3.74248661e-01 1.51811746e-01 1.62904556e+02] [-3.69557138e-01 9.27326165e-01 -5.91075689e-02 -4.50625569e+01] [-1.62899933e-01 -2.03047351e-03 9.86640507e-01 -2.73126069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:-45.07, Z:-27.32 [[ 9.13011800e-01 3.78721062e-01 1.51590932e-01 1.62930183e+02] [-3.74103856e-01 9.25506565e-01 -5.90246012e-02 -4.50724974e+01] [-1.62652262e-01 -2.82059468e-03 9.86679424e-01 -2.73178129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:-45.08, Z:-27.32 [[ 9.12449651e-01 3.80234284e-01 1.51187050e-01 1.62956623e+02] [-3.75664275e-01 9.24885034e-01 -5.88559825e-02 -4.50826743e+01] [-1.62209702e-01 -3.09245278e-03 9.86751463e-01 -2.73227176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:-45.09, Z:-27.33 [[ 9.11992943e-01 3.81468912e-01 1.50832160e-01 1.62984969e+02] [-3.76938675e-01 9.24375734e-01 -5.87089239e-02 -4.50938055e+01] [-1.61821218e-01 -3.31235015e-03 9.86814533e-01 -2.73282289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:-45.10, Z:-27.33 [[ 9.11662325e-01 3.82580820e-01 1.50012406e-01 1.63012674e+02] [-3.78114168e-01 9.23915454e-01 -5.83944379e-02 -4.51039939e+01] [-1.60939372e-01 -3.48580738e-03 9.86958139e-01 -2.73335844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:-45.11, Z:-27.34 [[ 9.11734172e-01 3.82372801e-01 1.50106100e-01 1.63039245e+02] [-3.77898026e-01 9.24001687e-01 -5.84291377e-02 -4.51138473e+01] [-1.61040003e-01 -3.45295741e-03 9.86941840e-01 -2.73387276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:-45.12, Z:-27.34 [[ 9.11871595e-01 3.82058243e-01 1.50072295e-01 1.63065284e+02] [-3.77582599e-01 9.24131976e-01 -5.84078021e-02 -4.51234507e+01] [-1.61001789e-01 -3.40427128e-03 9.86948243e-01 -2.73432954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:-45.13, Z:-27.35 [[ 9.12114425e-01 3.81456303e-01 1.50127828e-01 1.63091549e+02] [-3.76970934e-01 9.24380949e-01 -5.84189689e-02 -4.51333668e+01] [-1.61059588e-01 -3.30904320e-03 9.86939137e-01 -2.73481353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:-45.14, Z:-27.35 [[ 9.12725823e-01 3.80054379e-01 1.49967465e-01 1.63118393e+02] [-3.75561187e-01 9.24959063e-01 -5.83483182e-02 -4.51440167e+01] [-1.60889300e-01 -3.06594231e-03 9.86967696e-01 -2.73529271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:-45.15, Z:-27.36 [[ 9.13008899e-01 3.79520151e-01 1.49596811e-01 1.63143776e+02] [-3.75043452e-01 9.25178698e-01 -5.81960925e-02 -4.51544207e+01] [-1.60490373e-01 -2.97175419e-03 9.87032932e-01 -2.73571327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:163.17, Y:-45.16, Z:-27.36 [[ 9.13111150e-01 3.79348904e-01 1.49406949e-01 1.63169040e+02] [-3.74883145e-01 9.25249003e-01 -5.81111868e-02 -4.51647763e+01] [-1.60283046e-01 -2.94817434e-03 9.87066692e-01 -2.73618875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:-45.17, Z:-27.37 [[ 9.13259375e-01 3.79177743e-01 1.48934726e-01 1.63195561e+02] [-3.74739722e-01 9.25319255e-01 -5.79173317e-02 -4.51749793e+01] [-1.59773133e-01 -2.91821172e-03 9.87149447e-01 -2.73668083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:-45.18, Z:-27.37 [[ 9.13574792e-01 3.78571154e-01 1.48542857e-01 1.63221424e+02] [-3.74149914e-01 9.25567920e-01 -5.77569720e-02 -4.51847738e+01] [-1.59351627e-01 -2.81198355e-03 9.87217885e-01 -2.73722907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:-45.19, Z:-27.38 [[ 9.13637488e-01 3.78483507e-01 1.48380511e-01 1.63248556e+02] [-3.74072491e-01 9.25603790e-01 -5.76835726e-02 -4.51948147e+01] [-1.59173844e-01 -2.80319284e-03 9.87246590e-01 -2.73770073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:-45.20, Z:-27.38 [[ 9.13598213e-01 3.78472976e-01 1.48648954e-01 1.63275197e+02] [-3.74047065e-01 9.25608063e-01 -5.77798082e-02 -4.52034655e+01] [-1.59458766e-01 -2.81417542e-03 9.87200579e-01 -2.73817972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:-45.21, Z:-27.39 [[ 9.13190338e-01 3.79284985e-01 1.49084901e-01 1.63302159e+02] [-3.74844988e-01 9.25275129e-01 -5.79410913e-02 -4.52104360e+01] [-1.59920737e-01 -2.97248331e-03 9.87125383e-01 -2.73855614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:-45.22, Z:-27.39 [[ 9.12842069e-01 3.79974466e-01 1.49461576e-01 1.63329662e+02] [-3.75522744e-01 9.24991744e-01 -5.80770367e-02 -4.52190269e+01] [-1.60318515e-01 -3.11105881e-03 9.87060431e-01 -2.73902428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:-45.23, Z:-27.39 [[ 9.12442417e-01 3.80805237e-01 1.49787203e-01 1.63356276e+02] [-3.76346416e-01 9.24649483e-01 -5.81954368e-02 -4.52274012e+01] [-1.60661787e-01 -3.27189199e-03 9.87004096e-01 -2.73946280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.38, Y:-45.24, Z:-27.40 [[ 9.12004481e-01 3.81852682e-01 1.49787701e-01 1.63383514e+02] [-3.77409534e-01 9.24216704e-01 -5.81852926e-02 -4.52365741e+01] [-1.60654505e-01 -3.46605888e-03 9.87004618e-01 -2.73993125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:-45.24, Z:-27.40 [[ 9.11291811e-01 3.83394511e-01 1.50186166e-01 1.63410817e+02] [-3.78949698e-01 9.23577037e-01 -5.83316718e-02 -4.52431597e+01] [-1.61072537e-01 -3.75582744e-03 9.86935424e-01 -2.74042038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:-45.25, Z:-27.41 [[ 9.11061805e-01 3.83837123e-01 1.50450821e-01 1.63437424e+02] [-3.79384248e-01 9.23392784e-01 -5.84239521e-02 -4.52508564e+01] [-1.61350484e-01 -3.85084044e-03 9.86889656e-01 -2.74084905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:-45.26, Z:-27.41 [[ 9.10987553e-01 3.83997555e-01 1.50491047e-01 1.63464510e+02] [-3.79546462e-01 9.23325907e-01 -5.84273171e-02 -4.52586696e+01] [-1.61388230e-01 -3.89178588e-03 9.86883323e-01 -2.74132919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:-45.27, Z:-27.42 [[ 9.11096032e-01 3.83829643e-01 1.50262526e-01 1.63490120e+02] [-3.79391848e-01 9.23395825e-01 -5.83264680e-02 -4.52658278e+01] [-1.61139216e-01 -3.86736372e-03 9.86924109e-01 -2.74176741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:-45.27, Z:-27.42 [[ 9.11762245e-01 3.82396989e-01 1.49873785e-01 1.63516769e+02] [-3.77965268e-01 9.23991049e-01 -5.81618264e-02 -4.52702990e+01] [-1.60722943e-01 -3.61732815e-03 9.86992933e-01 -2.74226345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.54, Y:-45.28, Z:-27.43 [[ 9.12324431e-01 3.81155035e-01 1.49616083e-01 1.63543257e+02] [-3.76725491e-01 9.24504838e-01 -5.80405834e-02 -4.52782582e+01] [-1.60443253e-01 -3.41234993e-03 9.87039168e-01 -2.74269170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.57, Y:-45.28, Z:-27.43 [[ 9.13767769e-01 3.77710371e-01 1.49543773e-01 1.63570022e+02] [-3.73241234e-01 9.25919510e-01 -5.80003580e-02 -4.52839081e+01] [-1.60372834e-01 -2.81704459e-03 9.87052490e-01 -2.74318689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:-45.29, Z:-27.44 [[ 9.14487623e-01 3.75846547e-01 1.49839113e-01 1.63596089e+02] [-3.71337130e-01 9.26678520e-01 -5.81003967e-02 -4.52921227e+01] [-1.60689521e-01 -2.50873254e-03 9.87001816e-01 -2.74369039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:163.62, Y:-45.30, Z:-27.44 [[ 9.15167907e-01 3.74137369e-01 1.49963097e-01 1.63622637e+02] [-3.69599626e-01 9.27370634e-01 -5.81362547e-02 -4.53011219e+01] [-1.60822318e-01 -2.22186998e-03 9.86980874e-01 -2.74406679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:-45.31, Z:-27.45 [[ 9.15951652e-01 3.72027869e-01 1.50425515e-01 1.63649386e+02] [-3.67435653e-01 9.28219679e-01 -5.83032484e-02 -4.53092941e+01] [-1.61318357e-01 -1.86874078e-03 9.86900651e-01 -2.74462227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:-45.32, Z:-27.45 [[ 9.16781758e-01 3.69947348e-01 1.50499728e-01 1.63675189e+02] [-3.65324681e-01 9.29051487e-01 -5.83199067e-02 -4.53161832e+01] [-1.61397291e-01 -1.51463845e-03 9.86888353e-01 -2.74509694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:-45.32, Z:-27.46 [[ 9.18197757e-01 3.66622372e-01 1.50003052e-01 1.63702403e+02] [-3.61988521e-01 9.30369364e-01 -5.81133142e-02 -4.53205256e+01] [-1.60863885e-01 -9.39868213e-04 9.86976153e-01 -2.74558192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:-45.33, Z:-27.46 [[ 9.18905654e-01 3.64895185e-01 1.49879629e-01 1.63728999e+02] [-3.60248472e-01 9.31048378e-01 -5.80513276e-02 -4.53291590e+01] [-1.60727835e-01 -6.50214148e-04 9.86998551e-01 -2.74611571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.75, Y:-45.34, Z:-27.47 [[ 9.19646982e-01 3.63098761e-01 1.49695416e-01 1.63754065e+02] [-3.58441805e-01 9.31750594e-01 -5.79681241e-02 -4.53374321e+01] [-1.60526947e-01 -3.46884599e-04 9.87031397e-01 -2.74654588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:163.78, Y:-45.34, Z:-27.47 [[ 9.21008117e-01 3.59870511e-01 1.49121643e-01 1.63780916e+02] [-3.55209573e-01 9.33002237e-01 -5.77320051e-02 -4.53444283e+01] [-1.59906873e-01 2.02209911e-04 9.87132084e-01 -2.74691272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.81, Y:-45.35, Z:-27.47 [[ 9.21596534e-01 3.58344638e-01 1.49160814e-01 1.63807448e+02] [-3.53663266e-01 9.33589263e-01 -5.77354435e-02 -4.53523730e+01] [-1.59944121e-01 4.56084009e-04 9.87125965e-01 -2.74744266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:-45.36, Z:-27.48 [[ 9.22246532e-01 3.56596711e-01 1.49332247e-01 1.63834024e+02] [-3.51883622e-01 9.34258115e-01 -5.77900673e-02 -4.53604462e+01] [-1.60122612e-01 7.49117149e-04 9.87096848e-01 -2.74794750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.86, Y:-45.37, Z:-27.48 [[ 9.22286125e-01 3.56492727e-01 1.49335992e-01 1.63860262e+02] [-3.51779851e-01 9.34297791e-01 -5.77803875e-02 -4.53704284e+01] [-1.60122576e-01 7.56656576e-04 9.87096848e-01 -2.74843223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:163.89, Y:-45.38, Z:-27.49 [[ 9.23297142e-01 3.53590098e-01 1.49988101e-01 1.63886979e+02] [-3.48800847e-01 9.35399641e-01 -5.80127709e-02 -4.53776382e+01] [-1.60811557e-01 1.24704898e-03 9.86984340e-01 -2.74886637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:-45.39, Z:-27.49 [[ 9.24009857e-01 3.51820129e-01 1.49761083e-01 1.63912542e+02] [-3.47024298e-01 9.36066355e-01 -5.79130026e-02 -4.53850552e+01] [-1.60561271e-01 1.54145073e-03 9.87024672e-01 -2.74930789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.94, Y:-45.39, Z:-27.50 [[ 9.24697678e-01 3.50080519e-01 1.49592229e-01 1.63938844e+02] [-3.45275281e-01 9.36717828e-01 -5.78333046e-02 -4.53949098e+01] [-1.60372021e-01 1.82782370e-03 9.87054950e-01 -2.74979074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:-45.40, Z:-27.50 [[ 9.25496526e-01 3.47863482e-01 1.49823826e-01 1.63965536e+02] [-3.43015688e-01 9.37542598e-01 -5.79147191e-02 -4.54047505e+01] [-1.60612635e-01 2.20794839e-03 9.87015049e-01 -2.75032717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:163.99, Y:-45.42, Z:-27.51 [[ 9.27092180e-01 3.43700599e-01 1.49565999e-01 1.63992049e+02] [-3.38817073e-01 9.39074753e-01 -5.78065603e-02 -4.54152809e+01] [-1.60321803e-01 2.91649602e-03 9.87060491e-01 -2.75078644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.02, Y:-45.42, Z:-27.51 [[ 9.27841776e-01 3.41716793e-01 1.49463281e-01 1.64017696e+02] [-3.36815417e-01 9.39797352e-01 -5.77608244e-02 -4.54241017e+01] [-1.60203039e-01 3.25136878e-03 9.87078728e-01 -2.75127162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:-45.43, Z:-27.52 [[ 9.28473629e-01 3.39965538e-01 1.49533118e-01 1.64043674e+02] [-3.35038578e-01 9.40431209e-01 -5.77779589e-02 -4.54337954e+01] [-1.60268126e-01 3.54594791e-03 9.87067148e-01 -2.75176868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.07, Y:-45.45, Z:-27.52 [[ 9.29357454e-01 3.37657809e-01 1.49271316e-01 1.64069933e+02] [-3.32720464e-01 9.41260744e-01 -5.76654513e-02 -4.54450910e+01] [-1.59974420e-01 3.92619556e-03 9.87113352e-01 -2.75226442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:-45.46, Z:-27.53 [[ 9.29628708e-01 3.36961642e-01 1.49155345e-01 1.64095533e+02] [-3.32024415e-01 9.41509729e-01 -5.76126609e-02 -4.54553521e+01] [-1.59844466e-01 4.03516719e-03 9.87133965e-01 -2.75274540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:-45.47, Z:-27.53 [[ 9.29684840e-01 3.36805669e-01 1.49157769e-01 1.64121329e+02] [-3.31867902e-01 9.41565462e-01 -5.76036231e-02 -4.54650337e+01] [-1.59843030e-01 4.05253932e-03 9.87134126e-01 -2.75320642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:-45.48, Z:-27.54 [[ 9.29556071e-01 3.37203075e-01 1.49062393e-01 1.64149539e+02] [-3.32278623e-01 9.41423561e-01 -5.75551509e-02 -4.54763364e+01] [-1.59738623e-01 3.97049323e-03 9.87151360e-01 -2.75375359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:-45.49, Z:-27.54 [[ 9.28809796e-01 3.39223011e-01 1.49131193e-01 1.64175912e+02] [-3.34319749e-01 9.40698999e-01 -5.75821109e-02 -4.54867288e+01] [-1.59820741e-01 3.62532565e-03 9.87139396e-01 -2.75421286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:-45.50, Z:-27.55 [[ 9.28138087e-01 3.40894059e-01 1.49502279e-01 1.64202416e+02] [-3.35988685e-01 9.40095783e-01 -5.77193308e-02 -4.54962996e+01] [-1.60222639e-01 3.34043509e-03 9.87075249e-01 -2.75466212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.23, Y:-45.51, Z:-27.55 [[ 9.27321975e-01 3.42990979e-01 1.49770301e-01 1.64228807e+02] [-3.38096336e-01 9.39333983e-01 -5.78146707e-02 -4.55059631e+01] [-1.60514244e-01 2.97602444e-03 9.87029037e-01 -2.75513677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:-45.52, Z:-27.56 [[ 9.26470602e-01 3.45185101e-01 1.49998232e-01 1.64256105e+02] [-3.40305379e-01 9.38531048e-01 -5.78940491e-02 -4.55158793e+01] [-1.60762161e-01 2.59192917e-03 9.86989772e-01 -2.75561278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:-45.52, Z:-27.56 [[ 9.24819443e-01 3.49503460e-01 1.50187646e-01 1.64282133e+02] [-3.44668406e-01 9.36933265e-01 -5.79633212e-02 -4.55249192e+01] [-1.60974183e-01 1.84066988e-03 9.86956901e-01 -2.75611851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:-45.53, Z:-27.57 [[ 9.23982510e-01 3.51633676e-01 1.50366483e-01 1.64308524e+02] [-3.46816744e-01 9.36136540e-01 -5.80217551e-02 -4.55343421e+01] [-1.61165962e-01 1.46147292e-03 9.86926237e-01 -2.75655580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.33, Y:-45.54, Z:-27.57 [[ 9.23273024e-01 3.53381139e-01 1.50627667e-01 1.64333775e+02] [-3.48571722e-01 9.35478725e-01 -5.81146160e-02 -4.55433772e+01] [-1.61445587e-01 1.15111195e-03 9.86880944e-01 -2.75706156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:-45.55, Z:-27.58 [[ 9.22580069e-01 3.55111964e-01 1.50802883e-01 1.64359891e+02] [-3.50316606e-01 9.34823403e-01 -5.81676920e-02 -4.55531004e+01] [-1.61630108e-01 8.35599098e-04 9.86851058e-01 -2.75760410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:-45.56, Z:-27.58 [[ 9.22587706e-01 3.55110989e-01 1.50758450e-01 1.64384820e+02] [-3.50320464e-01 9.34823784e-01 -5.81383332e-02 -4.55625038e+01] [-1.61578146e-01 8.23941140e-04 9.86859577e-01 -2.75806323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:164.41, Y:-45.57, Z:-27.59 [[ 9.22892709e-01 3.54289602e-01 1.50824151e-01 1.64410686e+02] [-3.49486339e-01 9.35135266e-01 -5.81492238e-02 -4.55722079e+01] [-1.61642648e-01 9.54514440e-04 9.86848896e-01 -2.75850491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:-45.58, Z:-27.59 [[ 9.23211680e-01 3.53275522e-01 1.51250123e-01 1.64436278e+02] [-3.48433388e-01 9.35518649e-01 -5.83012117e-02 -4.55818603e+01] [-1.62093701e-01 1.12376693e-03 9.86774731e-01 -2.75905153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:-45.59, Z:-27.60 [[ 9.24366963e-01 3.50450714e-01 1.50764762e-01 1.64462074e+02] [-3.45604446e-01 9.36579804e-01 -5.81019632e-02 -4.55928174e+01] [-1.61565106e-01 1.60256307e-03 9.86860754e-01 -2.75956203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:164.49, Y:-45.60, Z:-27.60 [[ 9.25049480e-01 3.48828291e-01 1.50340557e-01 1.64487911e+02] [-3.43990114e-01 9.37184789e-01 -5.79264338e-02 -4.56036264e+01] [-1.61103262e-01 1.86915214e-03 9.86935786e-01 -2.76004782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.51, Y:-45.61, Z:-27.61 [[ 9.25590136e-01 3.47494869e-01 1.50100685e-01 1.64513814e+02] [-3.42656780e-01 9.37679563e-01 -5.78218625e-02 -4.56146438e+01] [-1.60839146e-01 2.08632806e-03 9.86978428e-01 -2.76062680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:164.54, Y:-45.63, Z:-27.61 [[ 9.26313107e-01 3.45712054e-01 1.49757151e-01 1.64538670e+02] [-3.40874347e-01 9.38337624e-01 -5.76817311e-02 -4.56269804e+01] [-1.60464039e-01 2.38297238e-03 9.87038811e-01 -2.76103728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.56, Y:-45.64, Z:-27.62 [[ 9.26381406e-01 3.45471868e-01 1.49888890e-01 1.64563803e+02] [-3.40624053e-01 9.38425993e-01 -5.77227010e-02 -4.56373591e+01] [-1.60601200e-01 2.41747563e-03 9.87016419e-01 -2.76158643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:-45.65, Z:-27.62 [[ 9.26387086e-01 3.45446484e-01 1.49912285e-01 1.64588168e+02] [-3.40598710e-01 9.38435354e-01 -5.77200636e-02 -4.56476931e+01] [-1.60622181e-01 2.41119065e-03 9.87013020e-01 -2.76203831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:-45.66, Z:-27.62 [[ 9.26268622e-01 3.45565342e-01 1.50369661e-01 1.64613295e+02] [-3.40691542e-01 9.38391659e-01 -5.78823502e-02 -4.56581132e+01] [-1.61107770e-01 2.38493300e-03 9.86933938e-01 -2.76249756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:-45.67, Z:-27.63 [[ 9.25734895e-01 3.46995745e-01 1.50362418e-01 1.64636796e+02] [-3.42143042e-01 9.37864296e-01 -5.78679631e-02 -4.56704639e+01] [-1.61099480e-01 2.12493763e-03 9.86935886e-01 -2.76294471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:-45.68, Z:-27.63 [[ 9.25393830e-01 3.48099920e-01 1.49908991e-01 1.64662119e+02] [-3.43293237e-01 9.37455483e-01 -5.76798964e-02 -4.56818085e+01] [-1.60611373e-01 1.91387727e-03 9.87015868e-01 -2.76338967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:164.69, Y:-45.69, Z:-27.64 [[ 9.24811304e-01 3.49742916e-01 1.49679472e-01 1.64687365e+02] [-3.44974270e-01 9.36844322e-01 -5.75801100e-02 -4.56929904e+01] [-1.60364599e-01 1.61517021e-03 9.87056527e-01 -2.76382997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.71, Y:-45.70, Z:-27.64 [[ 9.23176930e-01 3.54192994e-01 1.49303981e-01 1.64712064e+02] [-3.49507987e-01 9.35171981e-01 -5.74241491e-02 -4.57039735e+01] [-1.59964131e-01 8.29715730e-04 9.87122479e-01 -2.76437172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:-45.71, Z:-27.65 [[ 9.22185523e-01 3.56584315e-01 1.49738060e-01 1.64736923e+02] [-3.51904641e-01 9.34263057e-01 -5.75818011e-02 -4.57147033e+01] [-1.60427505e-01 4.07585193e-04 9.87047542e-01 -2.76483940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:-45.73, Z:-27.65 [[ 9.21093919e-01 3.59216360e-01 1.50165239e-01 1.64762990e+02] [-3.54546705e-01 9.33254308e-01 -5.77324117e-02 -4.57254131e+01] [-1.60880783e-01 -6.36172412e-05 9.86973844e-01 -2.76527307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:164.79, Y:-45.74, Z:-27.66 [[ 9.18972863e-01 3.64522533e-01 1.50373537e-01 1.64788199e+02] [-3.59911601e-01 9.31194030e-01 -5.78041352e-02 -4.57354706e+01] [-1.61097850e-01 -1.00074890e-03 9.86937932e-01 -2.76563700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.81, Y:-45.74, Z:-27.66 [[ 9.18015344e-01 3.66880397e-01 1.50487883e-01 1.64813844e+02] [-3.62295606e-01 9.30267027e-01 -5.78372902e-02 -4.57446483e+01] [-1.61213283e-01 -1.42557885e-03 9.86918560e-01 -2.76611163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.84, Y:-45.75, Z:-27.67 [[ 9.17101999e-01 3.69109857e-01 1.50604905e-01 1.64839252e+02] [-3.64552834e-01 9.29383935e-01 -5.78509559e-02 -4.57537858e+01] [-1.61323137e-01 -1.84821768e-03 9.86899909e-01 -2.76664757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:-45.76, Z:-27.67 [[ 9.16289464e-01 3.71048708e-01 1.50786189e-01 1.64866158e+02] [-3.66508656e-01 9.28610791e-01 -5.79085788e-02 -4.57638737e+01] [-1.61508586e-01 -2.20342307e-03 9.86868847e-01 -2.76720422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:-45.77, Z:-27.68 [[ 9.15048796e-01 3.74382580e-01 1.50077930e-01 1.64891342e+02] [-3.69931120e-01 9.27270146e-01 -5.76284823e-02 -4.57736149e+01] [-1.60737884e-01 -2.78562342e-03 9.86993198e-01 -2.76771874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:-45.78, Z:-27.68 [[ 9.14630650e-01 3.75472469e-01 1.49903970e-01 1.64917691e+02] [-3.71048334e-01 9.26828733e-01 -5.75467965e-02 -4.57830399e+01] [-1.60542544e-01 -2.98755452e-03 9.87024400e-01 -2.76819513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:-45.79, Z:-27.69 [[ 9.14202897e-01 3.76501076e-01 1.49933330e-01 1.64942768e+02] [-3.72090971e-01 9.26410721e-01 -5.75455105e-02 -4.57911632e+01] [-1.60565791e-01 -3.18056592e-03 9.87020015e-01 -2.76863126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:-45.80, Z:-27.69 [[ 9.13424398e-01 3.78173723e-01 1.50467617e-01 1.64969036e+02] [-3.73756877e-01 9.25728026e-01 -5.77357674e-02 -4.57979634e+01] [-1.61126240e-01 -3.50104797e-03 9.86927595e-01 -2.76903743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:-45.81, Z:-27.70 [[ 9.13419596e-01 3.78105338e-01 1.50668493e-01 1.64995271e+02] [-3.73678082e-01 9.25755935e-01 -5.77982653e-02 -4.58069583e+01] [-1.61336085e-01 -3.50744553e-03 9.86893290e-01 -2.76951406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.02, Y:-45.82, Z:-27.70 [[ 9.13557541e-01 3.77663833e-01 1.50939218e-01 1.65021083e+02] [-3.73216583e-01 9.25936361e-01 -5.78898673e-02 -4.58156906e+01] [-1.61623019e-01 -3.44729444e-03 9.86846551e-01 -2.76995979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.05, Y:-45.82, Z:-27.70 [[ 9.13872932e-01 3.76792377e-01 1.51207703e-01 1.65047543e+02] [-3.72319403e-01 9.26291824e-01 -5.79803382e-02 -4.58245499e+01] [-1.61909008e-01 -3.31090006e-03 9.86800137e-01 -2.77041471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.07, Y:-45.83, Z:-27.71 [[ 9.14320628e-01 3.75699004e-01 1.51221848e-01 1.65073168e+02] [-3.71212367e-01 9.26736460e-01 -5.79733678e-02 -4.58331535e+01] [-1.61923337e-01 -3.12917405e-03 9.86798379e-01 -2.77093604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.10, Y:-45.84, Z:-27.71 [[ 9.15865312e-01 3.71948050e-01 1.51146874e-01 1.65099644e+02] [-3.67417122e-01 9.28250245e-01 -5.79322038e-02 -4.58418874e+01] [-1.61849893e-01 -2.47585350e-03 9.86812283e-01 -2.77148163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:-45.85, Z:-27.72 [[ 9.16784955e-01 3.69512224e-01 1.51545578e-01 1.65124921e+02] [-3.64926257e-01 9.29223578e-01 -5.80720940e-02 -4.58511330e+01] [-1.62278073e-01 -2.06333861e-03 9.86742910e-01 -2.77187353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:-45.86, Z:-27.72 [[ 9.17804701e-01 3.66776422e-01 1.52018374e-01 1.65150349e+02] [-3.62126810e-01 9.30307745e-01 -5.82380773e-02 -4.58603635e+01] [-1.62784225e-01 -1.59874780e-03 9.86660398e-01 -2.77231722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:-45.87, Z:-27.73 [[ 9.20236460e-01 3.60607882e-01 1.52075028e-01 1.65176765e+02] [-3.55873416e-01 9.32717366e-01 -5.82445463e-02 -4.58714193e+01] [-1.62846462e-01 -5.20704786e-04 9.86651285e-01 -2.77285286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.20, Y:-45.88, Z:-27.73 [[ 9.21553354e-01 3.57289233e-01 1.51933602e-01 1.65201552e+02] [-3.52520178e-01 9.33993790e-01 -5.81818173e-02 -4.58821518e+01] [-1.62692777e-01 5.79886038e-05 9.86676774e-01 -2.77329430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:-45.89, Z:-27.74 [[ 9.22660780e-01 3.54119360e-01 1.52632122e-01 1.65227656e+02] [-3.49433423e-01 9.35200167e-01 -5.74189140e-02 -4.58939335e+01] [-1.63074735e-01 -3.56584747e-04 9.86613655e-01 -2.77387484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.25, Y:-45.91, Z:-27.74 [[ 9.24910873e-01 3.48850954e-01 1.51138639e-01 1.65253379e+02] [-3.43873374e-01 9.37175187e-01 -5.87687941e-02 -4.59062699e+01] [-1.62144933e-01 2.38334289e-03 9.86764075e-01 -2.77436894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:-45.92, Z:-27.75 [[ 9.25880075e-01 3.46339956e-01 1.50979210e-01 1.65279545e+02] [-3.41489688e-01 9.38107045e-01 -5.77924277e-02 -4.59179989e+01] [-1.61650487e-01 1.95101415e-03 9.86846145e-01 -2.77486226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:-45.93, Z:-27.75 [[ 9.26628987e-01 3.44368972e-01 1.50893111e-01 1.65306728e+02] [-3.39499368e-01 9.38831603e-01 -5.77529226e-02 -4.59299963e+01] [-1.61551535e-01 2.28741642e-03 9.86861626e-01 -2.77539203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:-45.94, Z:-27.76 [[ 9.27255626e-01 3.42897978e-01 1.50392754e-01 1.65333392e+02] [-3.38041596e-01 9.39369230e-01 -5.75615323e-02 -4.59421029e+01] [-1.61012059e-01 2.53524799e-03 9.86949183e-01 -2.77590223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:-45.96, Z:-27.76 [[ 9.27963819e-01 3.41276587e-01 1.49711194e-01 1.65362660e+02] [-3.36444148e-01 9.39958751e-01 -5.72964365e-02 -4.59579985e+01] [-1.60276279e-01 2.79956488e-03 9.87068223e-01 -2.77645904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-45.97, Z:-27.77 [[ 9.28018743e-01 3.41095880e-01 1.49782552e-01 1.65391457e+02] [-3.36250954e-01 9.40024146e-01 -5.73576519e-02 -4.59712268e+01] [-1.60363674e-01 2.86445022e-03 9.87053842e-01 -2.77702434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:-45.98, Z:-27.78 [[ 9.27947427e-01 3.41151854e-01 1.50096586e-01 1.65418158e+02] [-3.36281720e-01 9.40003747e-01 -5.75113953e-02 -4.59840118e+01] [-1.60711473e-01 2.89281307e-03 9.86997191e-01 -2.77751962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.45, Y:-46.00, Z:-27.78 [[ 9.27584081e-01 3.41950523e-01 1.50524457e-01 1.65445899e+02] [-3.37063210e-01 9.39713904e-01 -5.76729693e-02 -4.59978604e+01] [-1.61171227e-01 2.76027159e-03 9.86922599e-01 -2.77798521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.47, Y:-46.01, Z:-27.78 [[ 9.26180696e-01 3.45280055e-01 1.51561878e-01 1.65474344e+02] [-3.40368420e-01 9.38497121e-01 -5.80731610e-02 -4.60140656e+01] [-1.62291891e-01 2.19936365e-03 9.86740343e-01 -2.77844513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:-46.03, Z:-27.79 [[ 9.26151522e-01 3.45363413e-01 1.51550226e-01 1.65505132e+02] [-3.40447915e-01 9.38466406e-01 -5.81035532e-02 -4.60259948e+01] [-1.62291637e-01 2.21773578e-03 9.86740344e-01 -2.77901525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.53, Y:-46.04, Z:-27.80 [[ 9.25318418e-01 3.47543357e-01 1.51655666e-01 1.65534461e+02] [-3.42647698e-01 9.37662088e-01 -5.81580935e-02 -4.60387804e+01] [-1.62414227e-01 1.85029030e-03 9.86720931e-01 -2.77954256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:-46.05, Z:-27.80 [[ 9.24260824e-01 3.50367100e-01 1.51607469e-01 1.65563950e+02] [-3.45507066e-01 9.36611435e-01 -5.81711908e-02 -4.60517219e+01] [-1.62378561e-01 1.38390088e-03 9.86727565e-01 -2.78016620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:-46.07, Z:-27.81 [[ 9.22185649e-01 3.56095259e-01 1.50896638e-01 1.65591226e+02] [-3.51351355e-01 9.34449571e-01 -5.79329293e-02 -4.60655717e+01] [-1.61634940e-01 4.07177801e-04 9.86850536e-01 -2.78072780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.62, Y:-46.08, Z:-27.81 [[ 9.21148671e-01 3.58950356e-01 1.50465171e-01 1.65618025e+02] [-3.54268661e-01 9.33356650e-01 -5.77847717e-02 -4.60769583e+01] [-1.61179533e-01 -7.67291043e-05 9.86925100e-01 -2.78118923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:-46.09, Z:-27.82 [[ 9.20025922e-01 3.61958004e-01 1.50128966e-01 1.65644275e+02] [-3.57337724e-01 9.32194205e-01 -5.76516622e-02 -4.60875950e+01] [-1.60816833e-01 -6.05719363e-04 9.86984083e-01 -2.78175948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:-46.10, Z:-27.82 [[ 9.18074428e-01 3.67294220e-01 1.49111705e-01 1.65669886e+02] [-3.62807442e-01 9.30103544e-01 -5.72552050e-02 -4.60982903e+01] [-1.59718831e-01 -1.53429642e-03 9.87161355e-01 -2.78226093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:-46.11, Z:-27.83 [[ 9.17071248e-01 3.69838160e-01 1.48996852e-01 1.65695114e+02] [-3.65393295e-01 9.29094072e-01 -5.72009217e-02 -4.61084845e+01] [-1.59587176e-01 -1.98513022e-03 9.87181844e-01 -2.78277498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:-46.12, Z:-27.83 [[ 9.16126435e-01 3.72282101e-01 1.48722536e-01 1.65721426e+02] [-3.67887334e-01 9.28116480e-01 -5.70851038e-02 -4.61186617e+01] [-1.59283599e-01 -2.41596456e-03 9.87229912e-01 -2.78325075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:-46.13, Z:-27.84 [[ 9.13997374e-01 3.77024762e-01 1.49870379e-01 1.65748359e+02] [-3.72626007e-01 9.26197390e-01 -5.75174240e-02 -4.61277553e+01] [-1.60495047e-01 -3.27482635e-03 9.87031213e-01 -2.78369737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:-46.14, Z:-27.84 [[ 9.12997751e-01 3.79272484e-01 1.50291350e-01 1.65775058e+02] [-3.74880439e-01 9.25277677e-01 -5.76704192e-02 -4.61367318e+01] [-1.60934034e-01 -3.68832432e-03 9.86958273e-01 -2.78414645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:-46.15, Z:-27.85 [[ 9.12069623e-01 3.81443954e-01 1.50431092e-01 1.65800804e+02] [-3.77074354e-01 9.24382950e-01 -5.77156172e-02 -4.61450976e+01] [-1.61071210e-01 -4.08304580e-03 9.86934341e-01 -2.78458843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:-46.15, Z:-27.85 [[ 9.10678535e-01 3.84632615e-01 1.50739368e-01 1.65826808e+02] [-3.80289941e-01 9.23057951e-01 -5.78236989e-02 -4.61514822e+01] [-1.61382053e-01 -4.66586399e-03 9.86880977e-01 -2.78508346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.85, Y:-46.16, Z:-27.85 [[ 9.10326377e-01 3.85640935e-01 1.50289573e-01 1.65853436e+02] [-3.81341175e-01 9.22636202e-01 -5.76311264e-02 -4.61603044e+01] [-1.60887522e-01 -4.84846775e-03 9.86960839e-01 -2.78549253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:-46.17, Z:-27.86 [[ 9.10275781e-01 3.85838103e-01 1.50089841e-01 1.65878394e+02] [-3.81554471e-01 9.22553557e-01 -5.75423306e-02 -4.61684428e+01] [-1.60667941e-01 -4.88806020e-03 9.86996413e-01 -2.78607954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.90, Y:-46.18, Z:-27.87 [[ 9.10676557e-01 3.85074841e-01 1.49618099e-01 1.65904914e+02] [-3.80810340e-01 9.22873117e-01 -5.73471374e-02 -4.61756886e+01] [-1.60161462e-01 -4.75142564e-03 9.87079394e-01 -2.78655787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.93, Y:-46.18, Z:-27.87 [[ 9.11141404e-01 3.83942705e-01 1.49697499e-01 1.65931263e+02] [-3.79660472e-01 9.23345628e-01 -5.73653029e-02 -4.61835007e+01] [-1.60247521e-01 -4.56632054e-03 9.87066300e-01 -2.78705833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:-46.19, Z:-27.88 [[ 9.11799082e-01 3.82315837e-01 1.49856712e-01 1.65957840e+02] [-3.78004621e-01 9.24021721e-01 -5.74139862e-02 -4.61917514e+01] [-1.60421133e-01 -4.29650955e-03 9.87039310e-01 -2.78753751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:-46.20, Z:-27.88 [[ 9.12720400e-01 3.80011507e-01 1.50109048e-01 1.65983911e+02] [-3.75656710e-01 9.24973497e-01 -5.74984012e-02 -4.61994627e+01] [-1.60696946e-01 -3.90950750e-03 9.86996052e-01 -2.78797914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:-46.21, Z:-27.88 [[ 9.14893516e-01 3.74604571e-01 1.50470161e-01 1.66011053e+02] [-3.70158266e-01 9.27179884e-01 -5.76222211e-02 -4.62067922e+01] [-1.61098454e-01 -2.97957734e-03 9.86933843e-01 -2.78843913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.04, Y:-46.22, Z:-27.89 [[ 9.16056388e-01 3.71637474e-01 1.50752387e-01 1.66036609e+02] [-3.67136423e-01 9.28374638e-01 -5.77180921e-02 -4.62153637e+01] [-1.61404898e-01 -2.47366497e-03 9.86885171e-01 -2.78890494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:-46.22, Z:-27.89 [[ 9.17213693e-01 3.68622315e-01 1.51117933e-01 1.66063299e+02] [-3.64060958e-01 9.29577185e-01 -5.78435522e-02 -4.62242865e+01] [-1.61798207e-01 -1.96124146e-03 9.86821916e-01 -2.78935625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:-46.23, Z:-27.90 [[ 9.19344487e-01 3.63081373e-01 1.51583739e-01 1.66088923e+02] [-3.58418713e-01 9.31756898e-01 -5.80095587e-02 -4.62336100e+01] [-1.62301385e-01 -9.99680884e-04 9.86740726e-01 -2.78978698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.12, Y:-46.24, Z:-27.90 [[ 9.20449905e-01 3.60359999e-01 1.51369232e-01 1.66115831e+02] [-3.55676062e-01 9.32813159e-01 -5.79150164e-02 -4.62432362e+01] [-1.62069467e-01 -5.30540960e-04 9.86779209e-01 -2.79028348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:-46.25, Z:-27.91 [[ 9.21455702e-01 3.57929943e-01 1.51015049e-01 1.66141859e+02] [-3.53236933e-01 9.33748437e-01 -5.77713218e-02 -4.62518627e+01] [-1.61688152e-01 -1.10378784e-04 9.86841897e-01 -2.79074688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.17, Y:-46.26, Z:-27.91 [[ 9.22391062e-01 3.55565376e-01 1.50890665e-01 1.66169121e+02] [-3.50850393e-01 9.34651367e-01 -5.77132980e-02 -4.62606099e+01] [-1.61551016e-01 2.94181300e-04 9.86864318e-01 -2.79115983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:166.20, Y:-46.27, Z:-27.92 [[ 9.24275877e-01 3.50911548e-01 1.50250418e-01 1.66195487e+02] [-3.46176851e-01 9.36407969e-01 -5.74604532e-02 -4.62691479e+01] [-1.60859225e-01 1.09609425e-03 9.86976752e-01 -2.79170548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:166.22, Y:-46.28, Z:-27.92 [[ 9.25221575e-01 3.48672569e-01 1.49641160e-01 1.66222326e+02] [-3.43949168e-01 9.37243449e-01 -5.72161494e-02 -4.62798898e+01] [-1.60199899e-01 1.46866328e-03 9.87083500e-01 -2.79219250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:-46.29, Z:-27.93 [[ 9.26069553e-01 3.46511391e-01 1.49415656e-01 1.66249174e+02] [-3.41775632e-01 9.38043975e-01 -5.71219663e-02 -4.62901978e+01] [-1.59951868e-01 1.83228345e-03 9.87123114e-01 -2.79275272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.05587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:166.27, Y:-46.30, Z:-27.93 [[ 9.27781827e-01 3.42072585e-01 1.49020899e-01 1.66273973e+02] [-3.37306262e-01 9.39669980e-01 -5.69632761e-02 -4.63012250e+01] [-1.59516040e-01 2.58381006e-03 9.87191955e-01 -2.79317836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:-46.31, Z:-27.94 [[ 9.28362382e-01 3.40353427e-01 1.49341332e-01 1.66300453e+02] [-3.35545951e-01 9.40293185e-01 -5.70757529e-02 -4.63121125e+01] [-1.59850564e-01 2.87610273e-03 9.87137035e-01 -2.79374689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.33, Y:-46.32, Z:-27.94 [[ 9.28913976e-01 3.38662430e-01 1.49755083e-01 1.66327004e+02] [-3.33807533e-01 9.40902608e-01 -5.72259787e-02 -4.63233924e+01] [-1.60285237e-01 3.16863669e-03 9.87065653e-01 -2.79421674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:-46.34, Z:-27.95 [[ 9.29343475e-01 3.37432754e-01 1.49866079e-01 1.66356691e+02] [-3.32556364e-01 9.41343590e-01 -5.72582772e-02 -4.63358562e+01] [-1.60396291e-01 3.37368814e-03 9.87046933e-01 -2.79474627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:-46.35, Z:-27.95 [[ 9.29900734e-01 3.36006067e-01 1.49614666e-01 1.66385108e+02] [-3.31123058e-01 9.41852782e-01 -5.71914101e-02 -4.63494000e+01] [-1.60131650e-01 3.64146837e-03 9.87088950e-01 -2.79525147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.41, Y:-46.36, Z:-27.96 [[ 9.29972079e-01 3.35836115e-01 1.49552783e-01 1.66414474e+02] [-3.30951759e-01 9.41913213e-01 -5.71876977e-02 -4.63621859e+01] [-1.60071437e-01 3.68820546e-03 9.87098542e-01 -2.79574572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:-46.37, Z:-27.96 [[ 9.29906789e-01 3.35852272e-01 1.49922028e-01 1.66443448e+02] [-3.30939170e-01 9.41907319e-01 -5.73573676e-02 -4.63747654e+01] [-1.60476257e-01 3.72193422e-03 9.87032683e-01 -2.79632617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:-46.39, Z:-27.97 [[ 9.29839154e-01 3.36098335e-01 1.49790045e-01 1.66471448e+02] [-3.31192491e-01 9.41819619e-01 -5.73353165e-02 -4.63873329e+01] [-1.60345508e-01 3.70328389e-03 9.87054003e-01 -2.79683701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:-46.40, Z:-27.97 [[ 9.29549563e-01 3.37015454e-01 1.49526564e-01 1.66499843e+02] [-3.32134302e-01 9.41492366e-01 -5.72619460e-02 -4.64008135e+01] [-1.60076280e-01 3.56491582e-03 9.87098210e-01 -2.79736865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:-46.41, Z:-27.98 [[ 9.29202751e-01 3.37906386e-01 1.49671379e-01 1.66530151e+02] [-3.33026831e-01 9.41173522e-01 -5.73195457e-02 -4.64138802e+01] [-1.60235380e-01 3.41689437e-03 9.87072919e-01 -2.79795855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:-46.43, Z:-27.98 [[ 9.28891790e-01 3.38786836e-01 1.49611237e-01 1.66558490e+02] [-3.33917012e-01 9.40857382e-01 -5.73307545e-02 -4.64268360e+01] [-1.60185742e-01 3.29633007e-03 9.87081386e-01 -2.79848191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:-46.44, Z:-27.99 [[ 9.28157372e-01 3.40933129e-01 1.49293317e-01 1.66586859e+02] [-3.36106569e-01 9.40082922e-01 -5.72404848e-02 -4.64429704e+01] [-1.59863275e-01 2.94971340e-03 9.87134759e-01 -2.79907338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:166.62, Y:-46.46, Z:-28.00 [[ 9.27734931e-01 3.42328051e-01 1.48725934e-01 1.66616588e+02] [-3.37550891e-01 9.39576529e-01 -5.70556108e-02 -4.64562756e+01] [-1.59271133e-01 2.72991153e-03 9.87231105e-01 -2.79950845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:-46.47, Z:-28.00 [[ 9.27230591e-01 3.43797320e-01 1.48481763e-01 1.66645720e+02] [-3.39049110e-01 9.39040533e-01 -5.69963031e-02 -4.64686887e+01] [-1.59025570e-01 2.50610606e-03 9.87271284e-01 -2.80015628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.68, Y:-46.48, Z:-28.01 [[ 9.26659474e-01 3.45305719e-01 1.48546893e-01 1.66675115e+02] [-3.40569333e-01 9.38487517e-01 -5.70412995e-02 -4.64823479e+01] [-1.59106092e-01 2.26734429e-03 9.87258887e-01 -2.80071172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:-46.50, Z:-28.01 [[ 9.25531085e-01 3.48156674e-01 1.48926630e-01 1.66702450e+02] [-3.43426925e-01 9.37434604e-01 -5.72215949e-02 -4.64985391e+01] [-1.59531057e-01 1.81495015e-03 9.87191242e-01 -2.80117768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.73, Y:-46.51, Z:-28.02 [[ 9.25019534e-01 3.49507272e-01 1.48941361e-01 1.66731433e+02] [-3.44788392e-01 9.36932260e-01 -5.72617287e-02 -4.65123852e+01] [-1.59561356e-01 1.61496515e-03 9.87186692e-01 -2.80165884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:-46.52, Z:-28.02 [[ 9.24439867e-01 3.50864599e-01 1.49348473e-01 1.66759075e+02] [-3.46132012e-01 9.36425133e-01 -5.74508574e-02 -4.65248578e+01] [-1.60011135e-01 1.41557569e-03 9.87114194e-01 -2.80219078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:-46.54, Z:-28.03 [[ 9.23205943e-01 3.53789280e-01 1.50079752e-01 1.66788023e+02] [-3.49046794e-01 9.35324700e-01 -5.77411477e-02 -4.65398649e+01] [-1.60801498e-01 9.22114304e-04 9.86986336e-01 -2.80270657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:-46.55, Z:-28.03 [[ 9.22596303e-01 3.55359414e-01 1.50119113e-01 1.66816935e+02] [-3.50629398e-01 9.34729492e-01 -5.77910291e-02 -4.65527901e+01] [-1.60857348e-01 6.81615688e-04 9.86977431e-01 -2.80324634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:-46.57, Z:-28.04 [[ 9.21953767e-01 3.56941707e-01 1.50312572e-01 1.66845978e+02] [-3.52216903e-01 9.34126564e-01 -5.78862380e-02 -4.65659125e+01] [-1.61072979e-01 4.25806567e-04 9.86942407e-01 -2.80381789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.87, Y:-46.58, Z:-28.04 [[ 9.21380529e-01 3.58532655e-01 1.50040851e-01 1.66874918e+02] [-3.53840857e-01 9.33517169e-01 -5.78130065e-02 -4.65791682e+01] [-1.60793562e-01 1.77195029e-04 9.86988044e-01 -2.80433607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:166.90, Y:-46.59, Z:-28.05 [[ 9.20593144e-01 3.60801488e-01 1.49434097e-01 1.66901240e+02] [-3.56172522e-01 9.32642617e-01 -5.76097609e-02 -4.65937272e+01] [-1.60154295e-01 -1.89168409e-04 9.87091974e-01 -2.80481795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.93, Y:-46.61, Z:-28.05 [[ 9.20284653e-01 3.61727392e-01 1.49095448e-01 1.66929000e+02] [-3.57131231e-01 9.32283848e-01 -5.74813931e-02 -4.66057492e+01] [-1.59791872e-01 -3.47396777e-04 9.87150666e-01 -2.80538892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.96, Y:-46.62, Z:-28.06 [[ 9.19921048e-01 3.62745693e-01 1.48865135e-01 1.66956682e+02] [-3.58177053e-01 9.31888023e-01 -5.73925997e-02 -4.66171623e+01] [-1.59544555e-01 -5.23414842e-04 9.87190590e-01 -2.80587067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:-46.63, Z:-28.06 [[ 9.19090241e-01 3.64528914e-01 1.49638897e-01 1.66985177e+02] [-3.59935853e-01 9.31191693e-01 -5.76906572e-02 -4.66293935e+01] [-1.60372410e-01 -8.37484038e-04 9.87056224e-01 -2.80636037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:-46.64, Z:-28.07 [[ 9.18764911e-01 3.65290960e-01 1.49778347e-01 1.67013269e+02] [-3.60698655e-01 9.30892893e-01 -5.77486070e-02 -4.66413132e+01] [-1.60522643e-01 -9.67454466e-04 9.87031684e-01 -2.80685296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86587156000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:167.04, Y:-46.65, Z:-28.07 [[ 9.18565969e-01 3.65865505e-01 1.49596101e-01 1.67040532e+02] [-3.61291310e-01 9.30667128e-01 -5.76826294e-02 -4.66531416e+01] [-1.60328258e-01 -1.06247085e-03 9.87063180e-01 -2.80734680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.07, Y:-46.66, Z:-28.08 [[ 9.18407766e-01 3.66328784e-01 1.49433590e-01 1.67067127e+02] [-3.61770300e-01 9.30484778e-01 -5.76222861e-02 -4.66643785e+01] [-1.60154383e-01 -1.13987963e-03 9.87091320e-01 -2.80780114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:-46.68, Z:-28.08 [[ 9.18019254e-01 3.66937468e-01 1.50324795e-01 1.67096406e+02] [-3.62332872e-01 9.30244760e-01 -5.79618532e-02 -4.66781584e+01] [-1.61107228e-01 -1.25751742e-03 9.86936107e-01 -2.80844517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.13, Y:-46.69, Z:-28.09 [[ 9.17864157e-01 3.67312790e-01 1.50355256e-01 1.67125790e+02] [-3.62705744e-01 9.30096579e-01 -5.80077330e-02 -4.66909090e+01] [-1.61151892e-01 -1.29149610e-03 9.86928771e-01 -2.80893292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:-46.70, Z:-28.09 [[ 9.17809779e-01 3.67561382e-01 1.50079442e-01 1.67154147e+02] [-3.62969232e-01 9.29998353e-01 -5.79344491e-02 -4.67025109e+01] [-1.60868100e-01 -1.30141597e-03 9.86975056e-01 -2.80943971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.18, Y:-46.71, Z:-28.10 [[ 9.17613023e-01 3.68192302e-01 1.49735665e-01 1.67184021e+02] [-3.63629266e-01 9.29748595e-01 -5.78040324e-02 -4.67146167e+01] [-1.60499524e-01 -1.40653697e-03 9.87034916e-01 -2.80997217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:-46.73, Z:-28.11 [[ 9.17272439e-01 3.69081798e-01 1.49632549e-01 1.67213833e+02] [-3.64531320e-01 9.29395657e-01 -5.77981695e-02 -4.67253189e+01] [-1.60400094e-01 -1.52908277e-03 9.87050896e-01 -2.81062185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.24, Y:-46.74, Z:-28.11 [[ 9.17034336e-01 3.69763099e-01 1.49409763e-01 1.67242157e+02] [-3.65229825e-01 9.29124666e-01 -5.77453959e-02 -4.67362532e+01] [-1.60172413e-01 -1.61439097e-03 9.87087733e-01 -2.81107252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.27, Y:-46.75, Z:-28.12 [[ 9.17029984e-01 3.69774173e-01 1.49409070e-01 1.67270650e+02] [-3.65240752e-01 9.29120259e-01 -5.77471897e-02 -4.67472707e+01] [-1.60172413e-01 -1.61437675e-03 9.87087733e-01 -2.81159999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.30, Y:-46.76, Z:-28.12 [[ 9.16667024e-01 3.70680467e-01 1.49390620e-01 1.67298718e+02] [-3.66159771e-01 9.28758772e-01 -5.77422320e-02 -4.67577476e+01] [-1.60151767e-01 -1.77043538e-03 9.87090815e-01 -2.81211438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:-46.77, Z:-28.13 [[ 9.16467996e-01 3.71047501e-01 1.49700247e-01 1.67325499e+02] [-3.66512773e-01 9.28612068e-01 -5.78620315e-02 -4.67676305e+01] [-1.60483019e-01 -1.83835274e-03 9.87036890e-01 -2.81269154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.35, Y:-46.78, Z:-28.13 [[ 9.16540780e-01 3.70995102e-01 1.49384177e-01 1.67353699e+02] [-3.66479280e-01 9.28633025e-01 -5.77376998e-02 -4.67779797e+01] [-1.60143484e-01 -1.82724915e-03 9.87092055e-01 -2.81322372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22587156000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:167.38, Y:-46.79, Z:-28.14 [[ 9.16517457e-01 3.71242509e-01 1.48911887e-01 1.67383960e+02] [-3.66758967e-01 9.28534068e-01 -5.75529671e-02 -4.67898705e+01] [-1.59635869e-01 -1.86647097e-03 9.87174202e-01 -2.81369935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:-46.80, Z:-28.14 [[ 9.16383829e-01 3.71305050e-01 1.49576862e-01 1.67412037e+02] [-3.66776178e-01 9.28509089e-01 -5.78455449e-02 -4.67989782e+01] [-1.60361819e-01 -1.85250794e-03 9.87056561e-01 -2.81427637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:-46.81, Z:-28.15 [[ 9.16218575e-01 3.71529303e-01 1.50031665e-01 1.67440869e+02] [-3.66975302e-01 9.28419293e-01 -5.80236451e-02 -4.68091281e+01] [-1.60849777e-01 -1.89557429e-03 9.86977080e-01 -2.81477991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.47, Y:-46.82, Z:-28.15 [[ 9.16155494e-01 3.71624266e-01 1.50181611e-01 1.67467197e+02] [-3.67062312e-01 9.28381248e-01 -5.80819816e-02 -4.68181566e+01] [-1.61010465e-01 -1.91388272e-03 9.86950843e-01 -2.81523362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:-46.83, Z:-28.16 [[ 9.16058636e-01 3.71921848e-01 1.50035707e-01 1.67493860e+02] [-3.67373749e-01 9.28261956e-01 -5.80195677e-02 -4.68276476e+01] [-1.60851184e-01 -1.96985403e-03 9.86976705e-01 -2.81567347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:-46.84, Z:-28.16 [[ 9.15747056e-01 3.72465584e-01 1.50587912e-01 1.67525525e+02] [-3.67892756e-01 9.28043668e-01 -5.82225954e-02 -4.68369404e+01] [-1.61438071e-01 -2.08303142e-03 9.86880646e-01 -2.81628915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:-46.85, Z:-28.17 [[ 9.15616660e-01 3.72752537e-01 1.50670763e-01 1.67554784e+02] [-3.68172700e-01 9.27928408e-01 -5.82900776e-02 -4.68462473e+01] [-1.61539455e-01 -2.10149534e-03 9.86864017e-01 -2.81684308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.58, Y:-46.86, Z:-28.17 [[ 9.15718360e-01 3.72687343e-01 1.50213277e-01 1.67582845e+02] [-3.68131702e-01 9.27954671e-01 -5.81306979e-02 -4.68557364e+01] [-1.61055688e-01 -2.06692208e-03 9.86943156e-01 -2.81734629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.61, Y:-46.86, Z:-28.18 [[ 9.16208416e-01 3.71643762e-01 1.49810056e-01 1.67611971e+02] [-3.67098893e-01 9.28373516e-01 -5.79742813e-02 -4.68646793e+01] [-1.60625468e-01 -1.87858123e-03 9.87013642e-01 -2.81790446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.64, Y:-46.87, Z:-28.18 [[ 9.16846163e-01 3.70223028e-01 1.49425639e-01 1.67639615e+02] [-3.65681735e-01 9.28941488e-01 -5.78323440e-02 -4.68741986e+01] [-1.60218541e-01 -1.61886439e-03 9.87080239e-01 -2.81846411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:-46.89, Z:-28.19 [[ 9.17559006e-01 3.68586659e-01 1.49095090e-01 1.67669685e+02] [-3.64044753e-01 9.29592435e-01 -5.77002750e-02 -4.68854414e+01] [-1.59865220e-01 -1.33387846e-03 9.87137950e-01 -2.81907053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.70, Y:-46.90, Z:-28.20 [[ 9.18312937e-01 3.66762574e-01 1.48951546e-01 1.67699083e+02] [-3.62200824e-01 9.30314054e-01 -5.76742929e-02 -4.68972586e+01] [-1.59724489e-01 -9.87323245e-04 9.87161138e-01 -2.81956214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.73, Y:-46.91, Z:-28.20 [[ 9.18928828e-01 3.64842615e-01 1.49865525e-01 1.67728289e+02] [-3.60194091e-01 9.31068993e-01 -5.80581337e-02 -4.69087413e+01] [-1.60717225e-01 -6.29383880e-04 9.87000293e-01 -2.82010885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.76, Y:-46.92, Z:-28.20 [[ 9.20325117e-01 3.60968356e-01 1.50676891e-01 1.67758457e+02] [-3.56212433e-01 9.32578061e-01 -5.84025929e-02 -4.69199852e+01] [-1.61599451e-01 7.63913398e-05 9.86856429e-01 -2.82046139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.79, Y:-46.93, Z:-28.21 [[ 9.21007542e-01 3.59040498e-01 1.51112638e-01 1.67787211e+02] [-3.54225494e-01 9.33321874e-01 -5.86052837e-02 -4.69299305e+01] [-1.62078400e-01 4.47959590e-04 9.86777782e-01 -2.82106179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:-46.94, Z:-28.22 [[ 9.22063024e-01 3.56475311e-01 1.50748573e-01 1.67816102e+02] [-3.51649580e-01 9.34304313e-01 -5.84638719e-02 -4.69405891e+01] [-1.61685969e-01 8.96702206e-04 9.86841853e-01 -2.82163771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:-46.95, Z:-28.22 [[ 9.22431464e-01 3.55805472e-01 1.50075513e-01 1.67843889e+02] [-3.51013525e-01 9.34559489e-01 -5.82071021e-02 -4.69508488e+01] [-1.60964900e-01 1.01352778e-03 9.86959611e-01 -2.82221572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73587156000002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:167.87, Y:-46.96, Z:-28.23 [[ 9.22486610e-01 3.56087947e-01 1.49063172e-01 1.67874346e+02] [-3.51364527e-01 9.34451956e-01 -5.78144567e-02 -4.69630112e+01] [-1.59879404e-01 9.57551041e-04 9.87136090e-01 -2.82266427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.90, Y:-46.97, Z:-28.23 [[ 9.22419306e-01 3.56453877e-01 1.48604367e-01 1.67903702e+02] [-3.51758922e-01 9.34312464e-01 -5.76704469e-02 -4.69740449e+01] [-1.59399766e-01 9.23421807e-04 9.87213686e-01 -2.82317990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:-46.98, Z:-28.24 [[ 9.21588504e-01 3.58374360e-01 1.49139017e-01 1.67931765e+02] [-3.53664933e-01 9.33577756e-01 -5.79110356e-02 -4.69829446e+01] [-1.59986699e-01 6.24904250e-04 9.87118972e-01 -2.82377995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82587156000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:167.96, Y:-46.99, Z:-28.24 [[ 9.20961011e-01 3.60053906e-01 1.48969798e-01 1.67959043e+02] [-3.55375244e-01 9.32931437e-01 -5.78564481e-02 -4.69934126e+01] [-1.59810048e-01 3.43354637e-04 9.87147725e-01 -2.82416894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:-47.00, Z:-28.25 [[ 9.20415767e-01 3.61156150e-01 1.49669806e-01 1.67985835e+02] [-3.56448224e-01 9.32505342e-01 -5.81244373e-02 -4.70017405e+01] [-1.60559891e-01 1.49112063e-04 9.87026088e-01 -2.82475420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.01, Y:-47.01, Z:-28.25 [[ 9.19907425e-01 3.62369902e-01 1.49861215e-01 1.68013071e+02] [-3.57667172e-01 9.32034360e-01 -5.81905905e-02 -4.70108865e+01] [-1.60762320e-01 -7.04806386e-05 9.86993147e-01 -2.82523278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:-47.02, Z:-28.26 [[ 9.19055182e-01 3.64384471e-01 1.50204959e-01 1.68040784e+02] [-3.59688054e-01 9.31248501e-01 -5.83158013e-02 -4.70186578e+01] [-1.61127516e-01 -4.31490082e-04 9.86933502e-01 -2.82579749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:-47.03, Z:-28.26 [[ 9.18960359e-01 3.64708832e-01 1.49997753e-01 1.68066540e+02] [-3.60031065e-01 9.31121486e-01 -5.82272252e-02 -4.70274912e+01] [-1.60902114e-01 -4.95339155e-04 9.86970245e-01 -2.82629039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.09, Y:-47.04, Z:-28.27 [[ 9.18986618e-01 3.64683113e-01 1.49899373e-01 1.68093044e+02] [-3.60012875e-01 9.31131557e-01 -5.81786366e-02 -4.70372355e+01] [-1.60792803e-01 -5.00315555e-04 9.86988057e-01 -2.82674594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:168.12, Y:-47.05, Z:-28.27 [[ 9.19068719e-01 3.64415390e-01 1.50047038e-01 1.68118831e+02] [-3.59733658e-01 9.31236388e-01 -5.82278718e-02 -4.70483969e+01] [-1.60948394e-01 -4.61554336e-04 9.86962715e-01 -2.82711067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.15, Y:-47.06, Z:-28.28 [[ 9.19324125e-01 3.63637274e-01 1.50369830e-01 1.68145128e+02] [-3.58926740e-01 9.31540562e-01 -5.83418864e-02 -4.70576550e+01] [-1.61290880e-01 -3.36649249e-04 9.86906854e-01 -2.82771150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:-47.07, Z:-28.28 [[ 9.19651520e-01 3.62918535e-01 1.50104026e-01 1.68171006e+02] [-3.58216546e-01 9.31820846e-01 -5.82307225e-02 -4.70666870e+01] [-1.61003069e-01 -2.17773042e-04 9.86953882e-01 -2.82817299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.20, Y:-47.08, Z:-28.29 [[ 9.19845288e-01 3.62651285e-01 1.49561667e-01 1.68197421e+02] [-3.57981583e-01 9.31924897e-01 -5.80101163e-02 -4.70763710e+01] [-1.60417684e-01 -1.79990064e-04 9.87049206e-01 -2.82855232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:-47.08, Z:-28.29 [[ 9.20007945e-01 3.61783683e-01 1.50658380e-01 1.68223994e+02] [-3.57034539e-01 9.32262069e-01 -5.84274964e-02 -4.70847044e+01] [-1.61591208e-01 -3.64843776e-05 9.86857781e-01 -2.82907254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:-47.09, Z:-28.29 [[ 9.20036373e-01 3.61583790e-01 1.50964348e-01 1.68250575e+02] [-3.56814202e-01 9.32339618e-01 -5.85359923e-02 -4.70948098e+01] [-1.61915709e-01 -1.09814087e-05 9.86804592e-01 -2.82949584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:168.28, Y:-47.10, Z:-28.30 [[ 9.19945220e-01 3.61841675e-01 1.50901937e-01 1.68276151e+02] [-3.57080796e-01 9.32239561e-01 -5.85039037e-02 -4.71048000e+01] [-1.61845906e-01 -6.37972292e-05 9.86816041e-01 -2.82983724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.30, Y:-47.11, Z:-28.30 [[ 9.19719595e-01 3.62381092e-01 1.50982816e-01 1.68302738e+02] [-3.57623908e-01 9.32029997e-01 -5.85254209e-02 -4.71129040e+01] [-1.61929020e-01 -1.68088293e-04 9.86802394e-01 -2.83033843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.33, Y:-47.12, Z:-28.31 [[ 9.19524520e-01 3.62973460e-01 1.50747885e-01 1.68329182e+02] [-3.58241017e-01 9.31799435e-01 -5.84224809e-02 -4.71218092e+01] [-1.61672604e-01 -2.83171901e-04 9.86844410e-01 -2.83083519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.27587156 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:168.36, Y:-47.13, Z:-28.31 [[ 9.19374205e-01 3.63398677e-01 1.50640209e-01 1.68355704e+02] [-3.58680675e-01 9.31633654e-01 -5.83687225e-02 -4.71307801e+01] [-1.61552605e-01 -3.69034099e-04 9.86864033e-01 -2.83133744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:-47.14, Z:-28.32 [[ 9.18993653e-01 3.64380532e-01 1.50590483e-01 1.68381770e+02] [-3.59680033e-01 9.31249981e-01 -5.83416397e-02 -4.71368320e+01] [-1.61495942e-01 -5.48793191e-04 9.86873224e-01 -2.83192766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:-47.15, Z:-28.32 [[ 9.18900446e-01 3.64600799e-01 1.50626118e-01 1.68407609e+02] [-3.59903346e-01 9.31163732e-01 -5.83411154e-02 -4.71451673e+01] [-1.61528796e-01 -6.01166955e-04 9.86867816e-01 -2.83244241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.43, Y:-47.15, Z:-28.33 [[ 9.18934991e-01 3.64586042e-01 1.50450991e-01 1.68432734e+02] [-3.59901314e-01 9.31169505e-01 -5.82614550e-02 -4.71536916e+01] [-1.61336688e-01 -6.09019639e-04 9.86899236e-01 -2.83287407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:-47.16, Z:-28.33 [[ 9.19438236e-01 3.63502944e-01 1.49996466e-01 1.68460238e+02] [-3.58834631e-01 9.31592950e-01 -5.80713644e-02 -4.71615256e+01] [-1.60844762e-01 -4.30893589e-04 9.86979623e-01 -2.83333029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:-47.17, Z:-28.34 [[ 9.19892309e-01 3.62468626e-01 1.49715181e-01 1.68487707e+02] [-3.57805641e-01 9.31995938e-01 -5.79542422e-02 -4.71701983e+01] [-1.60540535e-01 -2.57274444e-04 9.87029215e-01 -2.83386732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:-47.18, Z:-28.34 [[ 9.20397235e-01 3.61185666e-01 1.49712541e-01 1.68513336e+02] [-3.56507293e-01 9.32493921e-01 -5.79451213e-02 -4.71788754e+01] [-1.60534982e-01 -4.10833797e-05 9.87030151e-01 -2.83438565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:-47.19, Z:-28.35 [[ 9.20977291e-01 3.59776551e-01 1.49538168e-01 1.68540190e+02] [-3.55092365e-01 9.33038475e-01 -5.78672316e-02 -4.71891294e+01] [-1.60344137e-01 1.94544542e-04 9.87061153e-01 -2.83487601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.57, Y:-47.20, Z:-28.35 [[ 9.22155292e-01 3.57093548e-01 1.48707150e-01 1.68565926e+02] [-3.52427842e-01 9.34068398e-01 -5.75399321e-02 -4.72003603e+01] [-1.59449788e-01 6.52213013e-04 9.87205824e-01 -2.83521905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:-47.21, Z:-28.36 [[ 9.22819439e-01 3.55377910e-01 1.48697089e-01 1.68592036e+02] [-3.50692318e-01 9.34722236e-01 -5.75259886e-02 -4.72092998e+01] [-1.59433941e-01 9.39173699e-04 9.87208152e-01 -2.83585684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:-47.22, Z:-28.36 [[ 9.23306104e-01 3.54090469e-01 1.48747367e-01 1.68618704e+02] [-3.49386698e-01 9.35210464e-01 -5.75354093e-02 -4.72185096e+01] [-1.59482834e-01 1.15244310e-03 9.87200029e-01 -2.83634071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:-47.23, Z:-28.37 [[ 9.23955677e-01 3.52201520e-01 1.49197845e-01 1.68644914e+02] [-3.47445800e-01 9.35923027e-01 -5.77018593e-02 -4.72266283e+01] [-1.59960381e-01 1.47579574e-03 9.87122332e-01 -2.83676559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:-47.24, Z:-28.37 [[ 9.24216881e-01 3.51468090e-01 1.49309542e-01 1.68670790e+02] [-3.46697313e-01 9.36198504e-01 -5.77350299e-02 -4.72355967e+01] [-1.60075390e-01 1.59447236e-03 9.87103504e-01 -2.83725871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.70, Y:-47.24, Z:-28.38 [[ 9.24495855e-01 3.50745062e-01 1.49282669e-01 1.68695609e+02] [-3.45968530e-01 9.36469425e-01 -5.77130234e-02 -4.72443490e+01] [-1.60041213e-01 1.70834535e-03 9.87108855e-01 -2.83767469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.72, Y:-47.25, Z:-28.38 [[ 9.24456960e-01 3.50406049e-01 1.50316100e-01 1.68720401e+02] [-3.45560497e-01 9.36596221e-01 -5.80987317e-02 -4.72532958e+01] [-1.61143639e-01 1.76647052e-03 9.86929383e-01 -2.83807485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:-47.26, Z:-28.39 [[ 9.24420264e-01 3.50452587e-01 1.50433237e-01 1.68748582e+02] [-3.45602290e-01 9.36578845e-01 -5.81302340e-02 -4.72641962e+01] [-1.61264479e-01 1.74669503e-03 9.86909680e-01 -2.83855719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.78, Y:-47.28, Z:-28.39 [[ 9.24444974e-01 3.50507026e-01 1.50154302e-01 1.68776935e+02] [-3.45675557e-01 9.36558497e-01 -5.80223283e-02 -4.72752035e+01] [-1.60965521e-01 1.73377776e-03 9.86958507e-01 -2.83900931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:-47.28, Z:-28.40 [[ 9.24441138e-01 3.50499215e-01 1.50196148e-01 1.68803064e+02] [-3.45664474e-01 9.36561412e-01 -5.80413024e-02 -4.72834932e+01] [-1.61011348e-01 1.73829505e-03 9.86951024e-01 -2.83956412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:-47.29, Z:-28.40 [[ 9.24276513e-01 3.50990353e-01 1.50062317e-01 1.68831127e+02] [-3.46172429e-01 9.36377637e-01 -5.79790561e-02 -4.72927869e+01] [-1.60865088e-01 1.64124286e-03 9.86975040e-01 -2.84017799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.86, Y:-47.30, Z:-28.41 [[ 9.24324565e-01 3.51736432e-01 1.48005341e-01 1.68861053e+02] [-3.46614788e-01 9.36090058e-01 -5.99465804e-02 -4.73024457e+01] [-1.59631725e-01 4.10925695e-03 9.87168084e-01 -2.84067185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:-47.31, Z:-28.41 [[ 9.24103462e-01 3.51941870e-01 1.48894971e-01 1.68888075e+02] [-3.47283171e-01 9.36021278e-01 -5.70838503e-02 -4.73137562e+01] [-1.59459058e-01 1.04266609e-03 9.87203992e-01 -2.84123133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.91, Y:-47.32, Z:-28.42 [[ 9.23989407e-01 3.51749489e-01 1.50052900e-01 1.68913048e+02] [-3.47296181e-01 9.36094006e-01 -5.57976233e-02 -4.73242718e+01] [-1.60090406e-01 -5.56386388e-04 9.87102200e-01 -2.84174257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:-47.33, Z:-28.42 [[ 9.23818103e-01 3.52460799e-01 1.49437273e-01 1.68939530e+02] [-3.47700955e-01 9.35825550e-01 -5.77458674e-02 -4.73335265e+01] [-1.60200373e-01 1.38719513e-03 9.87083541e-01 -2.84225775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:-47.34, Z:-28.43 [[ 9.23735061e-01 3.52743214e-01 1.49284165e-01 1.68965270e+02] [-3.47998161e-01 9.35719220e-01 -5.76786053e-02 -4.73431360e+01] [-1.60033799e-01 1.32913513e-03 9.87110640e-01 -2.84268803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:-47.35, Z:-28.43 [[ 9.23747457e-01 3.52709263e-01 1.49287683e-01 1.68992259e+02] [-3.47965241e-01 9.35732024e-01 -5.76694993e-02 -4.73534782e+01] [-1.60033832e-01 1.32512884e-03 9.87110641e-01 -2.84318706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:-47.36, Z:-28.44 [[ 9.23517275e-01 3.53152776e-01 1.49662821e-01 1.69019549e+02] [-3.48391480e-01 9.35564837e-01 -5.78084104e-02 -4.73628613e+01] [-1.60434474e-01 1.24581387e-03 9.87045707e-01 -2.84366115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:-47.37, Z:-28.44 [[ 9.22764965e-01 3.54834645e-01 1.50323630e-01 1.69046422e+02] [-3.50054430e-01 9.34928592e-01 -5.80553530e-02 -4.73708189e+01] [-1.61141911e-01 9.49992953e-04 9.86930789e-01 -2.84407799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.07, Y:-47.38, Z:-28.45 [[ 9.22296871e-01 3.56050615e-01 1.50321128e-01 1.69072247e+02] [-3.51288284e-01 9.34466388e-01 -5.80440458e-02 -4.73799564e+01] [-1.61136660e-01 7.27790542e-04 9.86931835e-01 -2.84450275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:-47.39, Z:-28.45 [[ 9.21673545e-01 3.57500281e-01 1.50703105e-01 1.69096803e+02] [-3.52734776e-01 9.33912916e-01 -5.81794096e-02 -4.73887931e+01] [-1.61542732e-01 4.64196628e-04 9.86865609e-01 -2.84497881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.12, Y:-47.39, Z:-28.45 [[ 9.20107820e-01 3.62743710e-01 1.47711208e-01 1.69122460e+02] [-3.57502385e-01 9.31881049e-01 -6.15609887e-02 -4.73939385e+01] [-1.59980137e-01 3.83563799e-03 9.87112782e-01 -2.84532872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.15, Y:-47.41, Z:-28.46 [[ 9.19470679e-01 3.62864673e-01 1.51337038e-01 1.69148913e+02] [-3.58920077e-01 9.31828229e-01 -5.35959940e-02 -4.74076814e+01] [-1.60468216e-01 -5.03795615e-03 9.87028151e-01 -2.84589367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:169.18, Y:-47.41, Z:-28.46 [[ 9.18820729e-01 3.65364604e-01 1.49255397e-01 1.69175069e+02] [-3.60797712e-01 9.30864028e-01 -5.75949025e-02 -4.74142091e+01] [-1.59979619e-01 -9.31615362e-04 9.87119878e-01 -2.84632665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:-47.42, Z:-28.47 [[ 9.17609896e-01 3.68384183e-01 1.49282192e-01 1.69200943e+02] [-3.63857577e-01 9.29672485e-01 -5.75910952e-02 -4.74208611e+01] [-1.59999195e-01 -1.47129802e-03 9.87116048e-01 -2.84687232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-47.43, Z:-28.47 [[ 9.17116402e-01 3.69439767e-01 1.49705592e-01 1.69227711e+02] [-3.64903520e-01 9.29253172e-01 -5.77404781e-02 -4.74288519e+01] [-1.60446025e-01 -1.67335785e-03 9.87043197e-01 -2.84736962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:-47.44, Z:-28.48 [[ 9.16691027e-01 3.70328347e-01 1.50114881e-01 1.69253785e+02] [-3.65780906e-01 9.28899085e-01 -5.78862570e-02 -4.74370726e+01] [-1.60878497e-01 -1.84534473e-03 9.86972494e-01 -2.84784050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:-47.45, Z:-28.48 [[ 9.16402128e-01 3.70919004e-01 1.50420186e-01 1.69279499e+02] [-3.66362850e-01 9.28663143e-01 -5.79916387e-02 -4.74456173e+01] [-1.61199884e-01 -1.96470693e-03 9.86919823e-01 -2.84832455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:-47.45, Z:-28.49 [[ 9.16275694e-01 3.71299327e-01 1.50251996e-01 1.69304958e+02] [-3.66760532e-01 9.28510982e-01 -5.79143166e-02 -4.74540966e+01] [-1.61014175e-01 -2.04102127e-03 9.86949983e-01 -2.84873583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:-47.46, Z:-28.49 [[ 9.16132399e-01 3.71485214e-01 1.50665733e-01 1.69331475e+02] [-3.66926066e-01 9.28436511e-01 -5.80595122e-02 -4.74600498e+01] [-1.61451817e-01 -2.09298423e-03 9.86878377e-01 -2.84917147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:-47.47, Z:-28.50 [[ 9.16107395e-01 3.71578581e-01 1.50587509e-01 1.69356901e+02] [-3.67029213e-01 9.28399063e-01 -5.80063410e-02 -4.74673558e+01] [-1.61359217e-01 -2.12997716e-03 9.86893442e-01 -2.84963916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44587156000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:169.38, Y:-47.47, Z:-28.50 [[ 9.15969261e-01 3.72011250e-01 1.50359381e-01 1.69384436e+02] [-3.67483783e-01 9.28225576e-01 -5.79046527e-02 -4.74743158e+01] [-1.61108605e-01 -2.21575226e-03 9.86934196e-01 -2.85004049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:169.41, Y:-47.48, Z:-28.50 [[ 9.15921080e-01 3.72188439e-01 1.50214317e-01 1.69411435e+02] [-3.67674240e-01 9.28154444e-01 -5.78358134e-02 -4.74824014e+01] [-1.60947907e-01 -2.25689422e-03 9.86960322e-01 -2.85049076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:-47.49, Z:-28.51 [[ 9.15851025e-01 3.72252261e-01 1.50483072e-01 1.69437038e+02] [-3.67724751e-01 9.28128782e-01 -5.79264367e-02 -4.74889296e+01] [-1.61230918e-01 -2.28436382e-03 9.86914066e-01 -2.85103258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:-47.50, Z:-28.52 [[ 9.15787288e-01 3.72342919e-01 1.50646587e-01 1.69463695e+02] [-3.67809190e-01 9.28092335e-01 -5.79742878e-02 -4.74960459e+01] [-1.61400258e-01 -2.31708322e-03 9.86886310e-01 -2.85154348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:-47.50, Z:-28.52 [[ 9.15905791e-01 3.72190945e-01 1.50301308e-01 1.69490305e+02] [-3.67678126e-01 9.28153341e-01 -5.78288053e-02 -4.75003945e+01] [-1.61026019e-01 -2.29676538e-03 9.86947489e-01 -2.85199110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:-47.51, Z:-28.52 [[ 9.15992678e-01 3.71883498e-01 1.50532649e-01 1.69517040e+02] [-3.67355015e-01 9.28276659e-01 -5.79028317e-02 -4.75080742e+01] [-1.61269052e-01 -2.26035375e-03 9.86907890e-01 -2.85249464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.54, Y:-47.52, Z:-28.53 [[ 9.16103119e-01 3.71444796e-01 1.50943164e-01 1.69543205e+02] [-3.66887579e-01 9.28452432e-01 -5.80481342e-02 -4.75160354e+01] [-1.61705225e-01 -2.20109533e-03 9.86836651e-01 -2.85289588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:-47.52, Z:-28.53 [[ 9.16192536e-01 3.71042820e-01 1.51388448e-01 1.69569371e+02] [-3.66455160e-01 9.28613272e-01 -5.82065875e-02 -4.75228250e+01] [-1.62178458e-01 -2.14863665e-03 9.86759105e-01 -2.85339068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:-47.53, Z:-28.54 [[ 9.16462680e-01 3.70083225e-01 1.52100504e-01 1.69596710e+02] [-3.65441397e-01 9.28996446e-01 -5.84652847e-02 -4.75276648e+01] [-1.62937849e-01 -2.00256921e-03 9.86634303e-01 -2.85386245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:-47.53, Z:-28.54 [[ 9.16997822e-01 3.70253412e-01 1.48416325e-01 1.69624177e+02] [-3.64748048e-01 9.28920686e-01 -6.37590778e-02 -4.75308317e+01] [-1.61474011e-01 4.33237067e-03 9.86867455e-01 -2.85421683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:-47.54, Z:-28.55 [[ 9.17020395e-01 3.67592021e-01 1.54756910e-01 1.69648027e+02] [-3.63902194e-01 9.29951885e-01 -5.25802625e-02 -4.75448244e+01] [-1.63244566e-01 -8.09920622e-03 9.86552388e-01 -2.85489530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:-47.55, Z:-28.55 [[ 9.17466048e-01 3.67765143e-01 1.51673503e-01 1.69677100e+02] [-3.63127824e-01 9.29917256e-01 -5.82415694e-02 -4.75461586e+01] [-1.62463027e-01 -1.64220649e-03 9.86713265e-01 -2.85535450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.70, Y:-47.55, Z:-28.56 [[ 9.17690803e-01 3.67382497e-01 1.51240509e-01 1.69702682e+02] [-3.62772213e-01 9.30068564e-01 -5.80412504e-02 -4.75530906e+01] [-1.61987383e-01 -1.60193265e-03 9.86791529e-01 -2.85579540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:-47.56, Z:-28.56 [[ 9.17835363e-01 3.66951699e-01 1.51409038e-01 1.69728900e+02] [-3.62328936e-01 9.30238707e-01 -5.80834815e-02 -4.75607438e+01] [-1.62160380e-01 -1.54880214e-03 9.86763200e-01 -2.85625219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.76, Y:-47.57, Z:-28.57 [[ 9.18545497e-01 3.65035378e-01 1.51734447e-01 1.69756193e+02] [-3.60372098e-01 9.30992816e-01 -5.81749717e-02 -4.75664917e+01] [-1.62499603e-01 -1.24450263e-03 9.86707824e-01 -2.85668254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:-47.57, Z:-28.57 [[ 9.19111090e-01 3.63517203e-01 1.51954095e-01 1.69782567e+02] [-3.58825202e-01 9.31586939e-01 -5.82258450e-02 -4.75744136e+01] [-1.62724547e-01 -1.00893916e-03 9.86671021e-01 -2.85722578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:-47.58, Z:-28.58 [[ 9.19947059e-01 3.61488728e-01 1.51734332e-01 1.69809348e+02] [-3.56788497e-01 9.32376231e-01 -5.81079407e-02 -4.75827072e+01] [-1.62478850e-01 -6.80834983e-04 9.86711792e-01 -2.85774659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:-47.59, Z:-28.58 [[ 9.21791029e-01 3.56907907e-01 1.51387072e-01 1.69835101e+02] [-3.52173516e-01 9.34139570e-01 -5.79402944e-02 -4.75897348e+01] [-1.62096003e-01 9.43263894e-05 9.86774988e-01 -2.85824905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:-47.60, Z:-28.59 [[ 9.22753611e-01 3.54580096e-01 1.50992477e-01 1.69861490e+02] [-3.49841935e-01 9.35025517e-01 -5.77745958e-02 -4.75988900e+01] [-1.61667541e-01 4.88216588e-04 9.86845159e-01 -2.85878113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.89, Y:-47.61, Z:-28.59 [[ 9.23813322e-01 3.52001565e-01 1.50545159e-01 1.69887524e+02] [-3.47259594e-01 9.35998954e-01 -5.75910748e-02 -4.76081956e+01] [-1.61182260e-01 9.25151502e-04 9.86924224e-01 -2.85925086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:-47.62, Z:-28.60 [[ 9.25407882e-01 3.47687474e-01 1.50776895e-01 1.69913657e+02] [-3.42875845e-01 9.37609001e-01 -5.76672950e-02 -4.76156689e+01] [-1.61419970e-01 1.66801411e-03 9.86884396e-01 -2.85973694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:-47.62, Z:-28.60 [[ 9.26103911e-01 3.45772874e-01 1.50906151e-01 1.69939021e+02] [-3.40929654e-01 9.38316126e-01 -5.77045885e-02 -4.76236422e+01] [-1.61550357e-01 1.99206313e-03 9.86862460e-01 -2.86018334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.97, Y:-47.63, Z:-28.61 [[ 9.26740440e-01 3.44069132e-01 1.50892641e-01 1.69965044e+02] [-3.39208200e-01 9.38941583e-01 -5.76758305e-02 -4.76320903e+01] [-1.61523848e-01 2.26650341e-03 9.86866206e-01 -2.86060891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:-47.64, Z:-28.61 [[ 9.27770789e-01 3.41427433e-01 1.50561189e-01 1.69989825e+02] [-3.36555359e-01 9.39904234e-01 -5.75371313e-02 -4.76410195e+01] [-1.61157854e-01 2.70909462e-03 9.86924925e-01 -2.86107962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:-47.65, Z:-28.62 [[ 9.28220864e-01 3.40128214e-01 1.50727655e-01 1.70016119e+02] [-3.35230578e-01 9.40374524e-01 -5.75865865e-02 -4.76505606e+01] [-1.61327269e-01 2.92455237e-03 9.86896630e-01 -2.86155240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19587156000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:170.04, Y:-47.66, Z:-28.62 [[ 9.28670828e-01 3.38707919e-01 1.51153690e-01 1.70042671e+02] [-3.33765691e-01 9.40886234e-01 -5.77369811e-02 -4.76598873e+01] [-1.61774399e-01 3.16873417e-03 9.86822681e-01 -2.86197116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:-47.67, Z:-28.62 [[ 9.28952524e-01 3.37720474e-01 1.51631428e-01 1.70067814e+02] [-3.32735699e-01 9.41240526e-01 -5.79070534e-02 -4.76685525e+01] [-1.62278043e-01 3.33971423e-03 9.86739420e-01 -2.86245163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:-47.68, Z:-28.63 [[ 9.29912546e-01 3.34662161e-01 1.52525064e-01 1.70092615e+02] [-3.29579551e-01 9.42330176e-01 -5.82336603e-02 -4.76779630e+01] [-1.63217573e-01 3.88306904e-03 9.86582458e-01 -2.86287209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.12, Y:-47.69, Z:-28.63 [[ 9.30382893e-01 3.33161619e-01 1.52941190e-01 1.70116790e+02] [-3.28033283e-01 9.42860627e-01 -5.83781144e-02 -4.76877135e+01] [-1.63651573e-01 4.14419838e-03 9.86509497e-01 -2.86335147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:-47.70, Z:-28.64 [[ 9.30947185e-01 3.31636937e-01 1.52821074e-01 1.70142749e+02] [-3.26498677e-01 9.43396854e-01 -5.83179979e-02 -4.76977308e+01] [-1.63511322e-01 4.39509769e-03 9.86531667e-01 -2.86382052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.17, Y:-47.71, Z:-28.64 [[ 9.32017990e-01 3.28752577e-01 1.52526091e-01 1.70167339e+02] [-3.23597954e-01 9.44403478e-01 -5.81930756e-02 -4.77105551e+01] [-1.63177295e-01 4.87986229e-03 9.86584693e-01 -2.86428449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:170.19, Y:-47.72, Z:-28.65 [[ 9.32499306e-01 3.27467304e-01 1.52348971e-01 1.70192590e+02] [-3.22309769e-01 9.44848818e-01 -5.81130237e-02 -4.77225268e+01] [-1.62976860e-01 5.08679272e-03 9.86616779e-01 -2.86472442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:-47.73, Z:-28.65 [[ 9.32845684e-01 3.26508904e-01 1.52285471e-01 1.70217164e+02] [-3.21345050e-01 9.45179599e-01 -5.80765341e-02 -4.77334299e+01] [-1.62899626e-01 5.24026202e-03 9.86628730e-01 -2.86527347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:-47.74, Z:-28.66 [[ 9.33098260e-01 3.25923487e-01 1.51991836e-01 1.70242700e+02] [-3.20774965e-01 9.45381212e-01 -5.79464004e-02 -4.77444865e+01] [-1.62576319e-01 5.31450951e-03 9.86681659e-01 -2.86570658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46587156000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:170.27, Y:-47.76, Z:-28.66 [[ 9.33179254e-01 3.25903377e-01 1.51537022e-01 1.70267136e+02] [-3.20787510e-01 9.45388280e-01 -5.77613583e-02 -4.77567053e+01] [-1.62085947e-01 5.29051718e-03 9.86762462e-01 -2.86610593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:-47.77, Z:-28.67 [[ 9.32799856e-01 3.26931490e-01 1.51658265e-01 1.70292584e+02] [-3.21823124e-01 9.45034265e-01 -5.77937253e-02 -4.77681466e+01] [-1.62216846e-01 5.10284178e-03 9.86741940e-01 -2.86664235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.32, Y:-47.78, Z:-28.67 [[ 9.32387472e-01 3.28189131e-01 1.51477711e-01 1.70317531e+02] [-3.23111393e-01 9.44599496e-01 -5.77132601e-02 -4.77795269e+01] [-1.62026634e-01 4.86694635e-03 9.86774383e-01 -2.86707047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.55587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:170.34, Y:-47.79, Z:-28.68 [[ 9.31126965e-01 3.31806266e-01 1.51351169e-01 1.70341978e+02] [-3.26786425e-01 9.43338100e-01 -5.76529414e-02 -4.77926904e+01] [-1.61904931e-01 4.22270105e-03 9.86797326e-01 -2.86752854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:-47.80, Z:-28.68 [[ 9.30371971e-01 3.33868709e-01 1.51458513e-01 1.70367379e+02] [-3.28870787e-01 9.42611703e-01 -5.76817361e-02 -4.78036084e+01] [-1.62024694e-01 3.85519006e-03 9.86779173e-01 -2.86808759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:-47.81, Z:-28.69 [[ 9.29614352e-01 3.35961294e-01 1.51483220e-01 1.70392765e+02] [-3.30991290e-01 9.41869366e-01 -5.76789730e-02 -4.78146993e+01] [-1.62055307e-01 3.47957447e-03 9.86775542e-01 -2.86854126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:-47.83, Z:-28.69 [[ 9.28053837e-01 3.40294663e-01 1.51379054e-01 1.70416882e+02] [-3.35390735e-01 9.40314947e-01 -5.76268652e-02 -4.78256820e+01] [-1.61954102e-01 2.70970121e-03 9.86794572e-01 -2.86900775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:-47.84, Z:-28.69 [[ 9.27411447e-01 3.42171115e-01 1.51085854e-01 1.70441762e+02] [-3.37313421e-01 9.39634686e-01 -5.75005525e-02 -4.78364115e+01] [-1.61640537e-01 2.36338425e-03 9.86846873e-01 -2.86949176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:-47.85, Z:-28.70 [[ 9.26885314e-01 3.43672604e-01 1.50906448e-01 1.70466691e+02] [-3.38848204e-01 9.39087207e-01 -5.74204869e-02 -4.78473901e+01] [-1.61448163e-01 2.08782706e-03 9.86878985e-01 -2.86997272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:-47.86, Z:-28.70 [[ 9.25960494e-01 3.46334201e-01 1.50498452e-01 1.70491412e+02] [-3.41572874e-01 9.38109820e-01 -5.72532667e-02 -4.78592641e+01] [-1.61012840e-01 1.60807429e-03 9.86951002e-01 -2.87044329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:-47.87, Z:-28.71 [[ 9.25487916e-01 3.47576354e-01 1.50541676e-01 1.70517274e+02] [-3.42830585e-01 9.37650666e-01 -5.72574779e-02 -4.78693408e+01] [-1.61056848e-01 1.38081309e-03 9.86944165e-01 -2.87087320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:170.54, Y:-47.88, Z:-28.71 [[ 9.25043305e-01 3.48573600e-01 1.50967974e-01 1.70541827e+02] [-3.43815872e-01 9.37280645e-01 -5.74076577e-02 -4.78790418e+01] [-1.61510154e-01 1.19938386e-03 9.86870322e-01 -2.87120928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:-47.89, Z:-28.72 [[ 9.24547018e-01 3.49489816e-01 1.51887064e-01 1.70567907e+02] [-3.44689524e-01 9.36939602e-01 -5.77348602e-02 -4.78889286e+01] [-1.62486751e-01 1.02471323e-03 9.86710193e-01 -2.87174089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:-47.90, Z:-28.72 [[ 9.23959832e-01 3.50650892e-01 1.52781484e-01 1.70592530e+02] [-3.45811306e-01 9.36505894e-01 -5.80624765e-02 -4.78997645e+01] [-1.63440419e-01 8.13831597e-04 9.86552871e-01 -2.87220166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:-47.91, Z:-28.73 [[ 9.23961928e-01 3.50742143e-01 1.52559184e-01 1.70617999e+02] [-3.45920343e-01 9.36471749e-01 -5.79636106e-02 -4.79098819e+01] [-1.63197647e-01 7.82844270e-04 9.86593085e-01 -2.87264033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:-47.92, Z:-28.73 [[ 9.24002049e-01 3.50634731e-01 1.52563099e-01 1.70644292e+02] [-3.45813178e-01 9.36511965e-01 -5.79533044e-02 -4.79197065e+01] [-1.63197609e-01 7.90641884e-04 9.86593085e-01 -2.87312467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.67, Y:-47.93, Z:-28.74 [[ 9.23975863e-01 3.50744112e-01 1.52470236e-01 1.70669619e+02] [-3.45933348e-01 9.36471037e-01 -5.78974523e-02 -4.79303149e+01] [-1.63091150e-01 7.51309191e-04 9.86610720e-01 -2.87363237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:-47.94, Z:-28.74 [[ 9.24140516e-01 3.50380330e-01 1.52308669e-01 1.70695369e+02] [-3.45576907e-01 9.36607164e-01 -5.78240607e-02 -4.79410073e+01] [-1.62913804e-01 8.03198466e-04 9.86639979e-01 -2.87408342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:-47.95, Z:-28.75 [[ 9.24253473e-01 3.49994269e-01 1.52510748e-01 1.70720413e+02] [-3.45174869e-01 9.36751446e-01 -5.78881563e-02 -4.79508192e+01] [-1.63125186e-01 8.60452130e-04 9.86605004e-01 -2.87456786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:-47.96, Z:-28.75 [[ 9.24425206e-01 3.49540218e-01 1.52511226e-01 1.70746037e+02] [-3.44717094e-01 9.36920903e-01 -5.78735496e-02 -4.79608823e+01] [-1.63120088e-01 9.26541539e-04 9.86605787e-01 -2.87502320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:-47.97, Z:-28.75 [[ 9.24830589e-01 3.48630328e-01 1.52135713e-01 1.70771982e+02] [-3.43820900e-01 9.37259699e-01 -5.77186707e-02 -4.79711639e+01] [-1.62713152e-01 1.07255455e-03 9.86672833e-01 -2.87549397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:-47.98, Z:-28.76 [[ 9.24986101e-01 3.48257691e-01 1.52043721e-01 1.70797048e+02] [-3.43451164e-01 9.37398162e-01 -5.76713434e-02 -4.79807232e+01] [-1.62609994e-01 1.12559816e-03 9.86689781e-01 -2.87599523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:-47.99, Z:-28.76 [[ 9.25100712e-01 3.47885709e-01 1.52197917e-01 1.70823177e+02] [-3.43066396e-01 9.37536207e-01 -5.77174853e-02 -4.79909626e+01] [-1.62770146e-01 1.18049586e-03 9.86663309e-01 -2.87647613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15587156000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:170.85, Y:-48.00, Z:-28.77 [[ 9.25376483e-01 3.47200544e-01 1.52085985e-01 1.70847830e+02] [-3.42381213e-01 9.37790021e-01 -5.76626603e-02 -4.80015395e+01] [-1.62645226e-01 1.28828585e-03 9.86683774e-01 -2.87680886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:-48.01, Z:-28.77 [[ 9.25804420e-01 3.45988875e-01 1.52242812e-01 1.70873055e+02] [-3.41145658e-01 9.38237434e-01 -5.77075205e-02 -4.80120200e+01] [-1.62806066e-01 1.48890308e-03 9.86656966e-01 -2.87744087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.90, Y:-48.02, Z:-28.78 [[ 9.26088214e-01 3.45306132e-01 1.52066748e-01 1.70897752e+02] [-3.40467071e-01 9.38488748e-01 -5.76284951e-02 -4.80218615e+01] [-1.62612405e-01 1.59534982e-03 9.86688735e-01 -2.87791751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:-48.03, Z:-28.78 [[ 9.26484054e-01 3.44121812e-01 1.52340001e-01 1.70923082e+02] [-3.39251718e-01 9.38923301e-01 -5.77174807e-02 -4.80341307e+01] [-1.62897420e-01 1.79271859e-03 9.86641382e-01 -2.87836264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:-48.04, Z:-28.79 [[ 9.26711365e-01 3.43307035e-01 1.52795048e-01 1.70947485e+02] [-3.38398628e-01 9.39221249e-01 -5.78775793e-02 -4.80449240e+01] [-1.63378135e-01 1.93017605e-03 9.86561635e-01 -2.87882948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:-48.06, Z:-28.79 [[ 9.26855589e-01 3.42816296e-01 1.53021907e-01 1.70972810e+02] [-3.37888962e-01 9.39400321e-01 -5.79489927e-02 -4.80563829e+01] [-1.63614687e-01 2.00593459e-03 9.86522281e-01 -2.87930824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:-48.07, Z:-28.80 [[ 9.26956678e-01 3.42521619e-01 1.53069457e-01 1.70997812e+02] [-3.37589229e-01 9.39507717e-01 -5.79548269e-02 -4.80673666e+01] [-1.63660717e-01 2.04701398e-03 9.86514561e-01 -2.87975876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:-48.08, Z:-28.80 [[ 9.27093487e-01 3.42159343e-01 1.53051139e-01 1.71021944e+02] [-3.37225265e-01 9.39639600e-01 -5.79356756e-02 -4.80800045e+01] [-1.63636144e-01 2.09907657e-03 9.86518528e-01 -2.88021860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:-48.09, Z:-28.81 [[ 9.27067224e-01 3.42244182e-01 1.53020527e-01 1.71047044e+02] [-3.37315616e-01 9.39608767e-01 -5.79097617e-02 -4.80919571e+01] [-1.63598708e-01 2.07002873e-03 9.86524798e-01 -2.88071705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:-48.10, Z:-28.81 [[ 9.27005326e-01 3.42409831e-01 1.53024944e-01 1.71070928e+02] [-3.37485221e-01 9.39548503e-01 -5.78993640e-02 -4.81032958e+01] [-1.63599669e-01 2.02936170e-03 9.86524724e-01 -2.88117062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:-48.11, Z:-28.82 [[ 9.26989313e-01 3.42510012e-01 1.52897696e-01 1.71096426e+02] [-3.37597378e-01 9.39512058e-01 -5.78368742e-02 -4.81148852e+01] [-1.63458937e-01 1.99630297e-03 9.86548119e-01 -2.88167519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:-48.13, Z:-28.82 [[ 9.26742423e-01 3.43153467e-01 1.52951557e-01 1.71120123e+02] [-3.38247401e-01 9.39277477e-01 -5.78490780e-02 -4.81287463e+01] [-1.63515064e-01 1.87572810e-03 9.86539054e-01 -2.88209671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:-48.14, Z:-28.83 [[ 9.26581053e-01 3.43482564e-01 1.53190344e-01 1.71145235e+02] [-3.38567449e-01 9.39157311e-01 -5.79277859e-02 -4.81407805e+01] [-1.63767015e-01 1.80952503e-03 9.86497385e-01 -2.88258081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:-48.15, Z:-28.83 [[ 9.26090239e-01 3.44827868e-01 1.53135922e-01 1.71168777e+02] [-3.39936505e-01 9.38664641e-01 -5.78952842e-02 -4.81539675e+01] [-1.63707182e-01 1.55976758e-03 9.86507742e-01 -2.88308162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:171.19, Y:-48.17, Z:-28.83 [[ 9.25792082e-01 3.45645634e-01 1.53095123e-01 1.71192986e+02] [-3.40770319e-01 9.38364072e-01 -5.78658654e-02 -4.81655330e+01] [-1.63660047e-01 1.40148598e-03 9.86515801e-01 -2.88342115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:-48.18, Z:-28.84 [[ 9.25371588e-01 3.46708905e-01 1.53233022e-01 1.71218752e+02] [-3.41841547e-01 9.37972010e-01 -5.79039263e-02 -4.81768262e+01] [-1.63804093e-01 1.20123490e-03 9.86492157e-01 -2.88405597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.24, Y:-48.19, Z:-28.84 [[ 9.24239337e-01 3.49672094e-01 1.53333217e-01 1.71244823e+02] [-3.44840175e-01 9.36871912e-01 -5.79333648e-02 -4.81906387e+01] [-1.63911265e-01 6.68841414e-04 9.86474860e-01 -2.88445078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:-48.20, Z:-28.85 [[ 9.23411150e-01 3.51863180e-01 1.53310634e-01 1.71269985e+02] [-3.47063333e-01 9.36051402e-01 -5.79207738e-02 -4.82017999e+01] [-1.63886822e-01 2.76188533e-04 9.86479109e-01 -2.88505832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:-48.21, Z:-28.86 [[ 9.22633978e-01 3.53924832e-01 1.53244106e-01 1.71296123e+02] [-3.49159186e-01 9.35273866e-01 -5.78848768e-02 -4.82136020e+01] [-1.63812103e-01 -1.00033355e-04 9.86491553e-01 -2.88554333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:-48.23, Z:-28.86 [[ 9.21220913e-01 3.57668162e-01 1.53053960e-01 1.71322007e+02] [-3.52967011e-01 9.33848430e-01 -5.78048395e-02 -4.82256036e+01] [-1.63604151e-01 -7.71971757e-04 9.86525765e-01 -2.88603357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:-48.24, Z:-28.87 [[ 9.20709471e-01 3.59085119e-01 1.52813442e-01 1.71348474e+02] [-3.54419573e-01 9.33304247e-01 -5.77057176e-02 -4.82361973e+01] [-1.63342699e-01 -1.02987405e-03 9.86568853e-01 -2.88654156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:-48.25, Z:-28.87 [[ 9.20368489e-01 3.60012552e-01 1.52685319e-01 1.71374419e+02] [-3.55368915e-01 9.32946686e-01 -5.76490629e-02 -4.82474294e+01] [-1.63201648e-01 -1.20123521e-03 9.86592002e-01 -2.88701548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:-48.26, Z:-28.88 [[ 9.20224033e-01 3.60468143e-01 1.52480975e-01 1.71399540e+02] [-3.55844589e-01 9.32770636e-01 -5.75636173e-02 -4.82587340e+01] [-1.62979626e-01 -1.28810569e-03 9.86628594e-01 -2.88751170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.43, Y:-48.27, Z:-28.88 [[ 9.20298160e-01 3.60375180e-01 1.52253167e-01 1.71425767e+02] [-3.55765984e-01 9.32806568e-01 -5.74671388e-02 -4.82707648e+01] [-1.62732485e-01 -1.27959578e-03 9.86669398e-01 -2.88792534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:-48.28, Z:-28.88 [[ 9.20505894e-01 3.59890847e-01 1.52142952e-01 1.71450032e+02] [-3.55283157e-01 9.32993642e-01 -5.74172688e-02 -4.82833405e+01] [-1.62612356e-01 -1.20089381e-03 9.86689302e-01 -2.88849643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:-48.29, Z:-28.89 [[ 9.20629191e-01 3.59359376e-01 1.52652324e-01 1.71475869e+02] [-3.54715069e-01 9.33198576e-01 -5.75989372e-02 -4.82940707e+01] [-1.63153650e-01 -1.12081659e-03 9.86600036e-01 -2.88895927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.50, Y:-48.31, Z:-28.89 [[ 9.20755905e-01 3.58939859e-01 1.52874922e-01 1.71500525e+02] [-3.54277552e-01 9.33360093e-01 -5.76745493e-02 -4.83060630e+01] [-1.63389046e-01 -1.05597132e-03 9.86561151e-01 -2.88945269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:171.53, Y:-48.32, Z:-28.90 [[ 9.20721952e-01 3.58947975e-01 1.53060244e-01 1.71526700e+02] [-3.54276155e-01 9.33356957e-01 -5.77338491e-02 -4.83175566e+01] [-1.63583291e-01 -1.06877230e-03 9.86528948e-01 -2.88985651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:-48.33, Z:-28.90 [[ 9.20568850e-01 3.59221243e-01 1.53339788e-01 1.71552358e+02] [-3.54537400e-01 9.33251749e-01 -5.78308280e-02 -4.83281382e+01] [-1.63878688e-01 -1.12743099e-03 9.86479855e-01 -2.89037969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:-48.34, Z:-28.91 [[ 9.20414794e-01 3.59553562e-01 1.53485643e-01 1.71578914e+02] [-3.54867113e-01 9.33123680e-01 -5.78751321e-02 -4.83388997e+01] [-1.64030298e-01 -1.19787910e-03 9.86454574e-01 -2.89087397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.05587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.60, Y:-48.35, Z:-28.91 [[ 9.20084753e-01 3.60521704e-01 1.53193171e-01 1.71603487e+02] [-3.55867915e-01 9.32749810e-01 -5.77565454e-02 -4.83507598e+01] [-1.63713389e-01 -1.37561746e-03 9.86506986e-01 -2.89126197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:171.63, Y:-48.36, Z:-28.92 [[ 9.20042564e-01 3.60882375e-01 1.52596175e-01 1.71629287e+02] [-3.56271675e-01 9.32610222e-01 -5.75210115e-02 -4.83617660e+01] [-1.63071072e-01 -1.44391590e-03 9.86613268e-01 -2.89175198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:-48.37, Z:-28.92 [[ 9.20005993e-01 3.61043461e-01 1.52435531e-01 1.71656360e+02] [-3.56446144e-01 9.32547817e-01 -5.74518476e-02 -4.83723867e+01] [-1.62896036e-01 -1.47901326e-03 9.86642131e-01 -2.89243914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.68, Y:-48.38, Z:-28.93 [[ 9.20076021e-01 3.61010813e-01 1.52089802e-01 1.71682952e+02] [-3.56434698e-01 9.32560465e-01 -5.73174021e-02 -4.83831007e+01] [-1.62525138e-01 -1.47371525e-03 9.86703303e-01 -2.89281089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:-48.39, Z:-28.93 [[ 9.20075897e-01 3.60824639e-01 1.52531714e-01 1.71708855e+02] [-3.56220217e-01 9.32632550e-01 -5.74776714e-02 -4.83935749e+01] [-1.62995401e-01 -1.45106011e-03 9.86625762e-01 -2.89340795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:171.74, Y:-48.40, Z:-28.94 [[ 9.20198782e-01 3.60262093e-01 1.53118994e-01 1.71735659e+02] [-3.55615580e-01 9.32850128e-01 -5.76905318e-02 -4.84046477e+01] [-1.63620785e-01 -1.36474291e-03 9.86522365e-01 -2.89375310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:-48.42, Z:-28.94 [[ 9.20718606e-01 3.58584075e-01 1.53930861e-01 1.71760240e+02] [-3.53865930e-01 9.33496810e-01 -5.79880137e-02 -4.84156463e+01] [-1.64487546e-01 -1.08024402e-03 9.86378568e-01 -2.89434477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:-48.43, Z:-28.95 [[ 9.21184449e-01 3.57435693e-01 1.53814617e-01 1.71787610e+02] [-3.52710593e-01 9.33937334e-01 -5.79335326e-02 -4.84269833e+01] [-1.64360726e-01 -8.84575427e-04 9.86399903e-01 -2.89477706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:-48.44, Z:-28.95 [[ 9.21581992e-01 3.56264160e-01 1.54150835e-01 1.71815725e+02] [-3.51502689e-01 9.34385030e-01 -5.80557935e-02 -4.84385848e+01] [-1.64719431e-01 -6.81259264e-04 9.86340228e-01 -2.89533370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:-48.45, Z:-28.96 [[ 9.22343075e-01 3.54111074e-01 1.54559371e-01 1.71844615e+02] [-3.49294261e-01 9.35203325e-01 -5.82087670e-02 -4.84523321e+01] [-1.65156807e-01 -2.98248152e-04 9.86267276e-01 -2.89589665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:171.87, Y:-48.47, Z:-28.96 [[ 9.22687234e-01 3.53267008e-01 1.54436680e-01 1.71874770e+02] [-3.48441129e-01 9.35522531e-01 -5.81925483e-02 -4.84651484e+01] [-1.65036501e-01 -1.18569729e-04 9.86287453e-01 -2.89638050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:-48.48, Z:-28.97 [[ 9.22867452e-01 3.52797757e-01 1.54432539e-01 1.71904021e+02] [-3.47959824e-01 9.35699601e-01 -5.82255796e-02 -4.84774520e+01] [-1.65044319e-01 -1.82702629e-06 9.86286152e-01 -2.89707978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:-48.49, Z:-28.98 [[ 9.23229373e-01 3.51800618e-01 1.54544006e-01 1.71932990e+02] [-3.46936355e-01 9.36074934e-01 -5.82999464e-02 -4.84913151e+01] [-1.65174727e-01 2.07289042e-04 9.86264299e-01 -2.89765880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:-48.50, Z:-28.98 [[ 9.23352685e-01 3.51478065e-01 1.54541221e-01 1.71962772e+02] [-3.46604559e-01 9.36196071e-01 -5.83283419e-02 -4.85041685e+01] [-1.65182016e-01 2.92939453e-04 9.86263056e-01 -2.89818970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:-48.52, Z:-28.99 [[ 9.23344154e-01 3.51519269e-01 1.54498466e-01 1.71992696e+02] [-3.46643184e-01 9.36180593e-01 -5.83472472e-02 -4.85172207e+01] [-1.65148647e-01 3.18749527e-04 9.86268636e-01 -2.89877418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:-48.53, Z:-28.99 [[ 9.23544661e-01 3.51324283e-01 1.53741687e-01 1.72020885e+02] [-3.46487728e-01 9.36253758e-01 -5.80960796e-02 -4.85314425e+01] [-1.64351796e-01 3.84716210e-04 9.86401713e-01 -2.89936010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:172.05, Y:-48.54, Z:-29.00 [[ 9.23645784e-01 3.50982685e-01 1.53914327e-01 1.72050509e+02] [-3.46125048e-01 9.36381828e-01 -5.81938498e-02 -4.85442268e+01] [-1.64547612e-01 4.76900339e-04 9.86369026e-01 -2.89980546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:-48.56, Z:-29.00 [[ 9.23568414e-01 3.51130941e-01 1.54040408e-01 1.72079245e+02] [-3.46261557e-01 9.36326240e-01 -5.82761133e-02 -4.85564544e+01] [-1.64694622e-01 4.83706118e-04 9.86344487e-01 -2.90043682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:172.11, Y:-48.57, Z:-29.01 [[ 9.23675733e-01 3.50832638e-01 1.54076608e-01 1.72109470e+02] [-3.45951458e-01 9.36438006e-01 -5.83219571e-02 -4.85693793e+01] [-1.64744438e-01 5.67549231e-04 9.86336123e-01 -2.90092238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:-48.58, Z:-29.02 [[ 9.24276303e-01 3.49292495e-01 1.53974248e-01 1.72138891e+02] [-3.44390831e-01 9.37013334e-01 -5.83178106e-02 -4.85841555e+01] [-1.64645897e-01 8.74451221e-04 9.86352353e-01 -2.90160965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.17, Y:-48.60, Z:-29.02 [[ 9.24631946e-01 3.48355138e-01 1.53962534e-01 1.72167440e+02] [-3.43435516e-01 9.37362013e-01 -5.83481135e-02 -4.85977559e+01] [-1.64644496e-01 1.07432731e-03 9.86352389e-01 -2.90216576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:-48.61, Z:-29.03 [[ 9.25058951e-01 3.47262251e-01 1.53866391e-01 1.72196571e+02] [-3.42328389e-01 9.37767158e-01 -5.83440829e-02 -4.86113522e+01] [-1.64551546e-01 1.29888246e-03 9.86367630e-01 -2.90271838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:-48.62, Z:-29.03 [[ 9.25433856e-01 3.46234658e-01 1.53927710e-01 1.72225895e+02] [-3.41277010e-01 9.38146720e-01 -5.84014977e-02 -4.86249436e+01] [-1.64627398e-01 1.51473473e-03 9.86354665e-01 -2.90326779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:-48.64, Z:-29.04 [[ 9.25980086e-01 3.44553935e-01 1.54413296e-01 1.72253217e+02] [-3.39535711e-01 9.38764696e-01 -5.86203609e-02 -4.86406845e+01] [-1.65155627e-01 1.85245853e-03 9.86265779e-01 -2.90382570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:-48.65, Z:-29.04 [[ 9.26015613e-01 3.44288556e-01 1.54791715e-01 1.72281325e+02] [-3.39236384e-01 9.38861888e-01 -5.87965253e-02 -4.86545101e+01] [-1.65571012e-01 1.93551870e-03 9.86195971e-01 -2.90431137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:-48.67, Z:-29.05 [[ 9.25987198e-01 3.44368163e-01 1.54784618e-01 1.72312141e+02] [-3.39313975e-01 9.38832679e-01 -5.88152012e-02 -4.86663573e+01] [-1.65570941e-01 1.94153916e-03 9.86195971e-01 -2.90488109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.83587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:172.34, Y:-48.68, Z:-29.05 [[ 9.25812803e-01 3.44441896e-01 1.55661280e-01 1.72340411e+02] [-3.39328432e-01 9.38805605e-01 -5.91629227e-02 -4.86837350e+01] [-1.66513871e-01 1.95349344e-03 9.86037177e-01 -2.90530668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:-48.70, Z:-29.06 [[ 9.25476978e-01 3.45227766e-01 1.55917132e-01 1.72368488e+02] [-3.40102641e-01 9.38517115e-01 -5.92943357e-02 -4.86977796e+01] [-1.66800948e-01 1.84771439e-03 9.85988859e-01 -2.90589444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:-48.71, Z:-29.06 [[ 9.25155540e-01 3.46075215e-01 1.55946056e-01 1.72397602e+02] [-3.40954751e-01 9.38205185e-01 -5.93370835e-02 -4.87118038e+01] [-1.66844492e-01 1.72548308e-03 9.85981713e-01 -2.90643693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:-48.73, Z:-29.07 [[ 9.24117284e-01 3.48904698e-01 1.55797169e-01 1.72426038e+02] [-3.43828246e-01 9.37157383e-01 -5.93142273e-02 -4.87288296e+01] [-1.66701480e-01 1.24583519e-03 9.86006625e-01 -2.90699095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:-48.74, Z:-29.08 [[ 9.23495590e-01 3.50796795e-01 1.55233707e-01 1.72454798e+02] [-3.45778117e-01 9.36451140e-01 -5.91333765e-02 -4.87427701e+01] [-1.66112581e-01 9.32993370e-04 9.86106353e-01 -2.90758826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:-48.76, Z:-29.08 [[ 9.21892543e-01 3.55434844e-01 1.54208335e-01 1.72483007e+02] [-3.50541820e-01 9.34701052e-01 -5.87739430e-02 -4.87579438e+01] [-1.65029000e-01 1.26789361e-04 9.86288707e-01 -2.90817092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:-48.77, Z:-29.09 [[ 9.20909345e-01 3.58275251e-01 1.53508379e-01 1.72511359e+02] [-3.53460901e-01 9.33615939e-01 -5.85377670e-02 -4.87710005e+01] [-1.64290503e-01 -3.51233290e-04 9.86411936e-01 -2.90875601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:-48.79, Z:-29.09 [[ 9.19827847e-01 3.61276276e-01 1.52958111e-01 1.72540996e+02] [-3.56532724e-01 9.32458429e-01 -5.83583372e-02 -4.87850932e+01] [-1.63710562e-01 -8.54948129e-04 9.86508044e-01 -2.90928305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:-48.80, Z:-29.10 [[ 9.18565020e-01 3.64494358e-01 1.52912286e-01 1.72570235e+02] [-3.59792500e-01 9.31204549e-01 -5.83733298e-02 -4.87985616e+01] [-1.63669366e-01 -1.39699476e-03 9.86514261e-01 -2.90985948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:-48.81, Z:-29.10 [[ 9.17290438e-01 3.67627358e-01 1.53063316e-01 1.72600060e+02] [-3.62953969e-01 9.29971190e-01 -5.84636882e-02 -4.88117289e+01] [-1.63837325e-01 -1.92675593e-03 9.86485488e-01 -2.91042259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:-48.83, Z:-29.11 [[ 9.15081537e-01 3.73416776e-01 1.52268487e-01 1.72628008e+02] [-3.68865805e-01 9.27659108e-01 -5.81944811e-02 -4.88258152e+01] [-1.62984044e-01 -2.91394267e-03 9.86624402e-01 -2.91097571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:-48.84, Z:-29.12 [[ 9.14098698e-01 3.75827390e-01 1.52241069e-01 1.72658316e+02] [-3.71305943e-01 9.26683764e-01 -5.82159654e-02 -4.88386757e+01] [-1.62958481e-01 -3.31287552e-03 9.86627366e-01 -2.91158779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:-48.85, Z:-29.12 [[ 9.13255646e-01 3.77887414e-01 1.52201273e-01 1.72687572e+02] [-3.73391044e-01 9.25844372e-01 -5.82351001e-02 -4.88507846e+01] [-1.62921004e-01 -3.64705848e-03 9.86632376e-01 -2.91213662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:172.72, Y:-48.86, Z:-29.13 [[ 9.11914578e-01 3.80587758e-01 1.53508179e-01 1.72717877e+02] [-3.76045908e-01 9.24735562e-01 -5.87674752e-02 -4.88642537e+01] [-1.64320653e-01 -4.13520508e-03 9.86398308e-01 -2.91262314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:-48.88, Z:-29.13 [[ 9.11336526e-01 3.81978317e-01 1.53487139e-01 1.72747630e+02] [-3.77451590e-01 9.24161033e-01 -5.87935590e-02 -4.88774405e+01] [-1.64304698e-01 -4.35324691e-03 9.86400028e-01 -2.91322961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:-48.89, Z:-29.14 [[ 9.10945095e-01 3.82793176e-01 1.53780420e-01 1.72776818e+02] [-3.78254799e-01 9.23823221e-01 -5.89403426e-02 -4.88897987e+01] [-1.64627884e-01 -4.47676577e-03 9.86345588e-01 -2.91377749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:-48.90, Z:-29.14 [[ 9.10299053e-01 3.84245105e-01 1.53984850e-01 1.72805231e+02] [-3.79709816e-01 9.23219075e-01 -5.90507748e-02 -4.89027070e+01] [-1.64851722e-01 -4.71569459e-03 9.86307088e-01 -2.91434248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:-48.92, Z:-29.15 [[ 9.10114017e-01 3.84720453e-01 1.53891680e-01 1.72835379e+02] [-3.80192219e-01 9.23020814e-01 -5.90461954e-02 -4.89151127e+01] [-1.64761503e-01 -4.76964900e-03 9.86321904e-01 -2.91484744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:-48.93, Z:-29.15 [[ 9.09945612e-01 3.85066469e-01 1.54022068e-01 1.72864524e+02] [-3.80529867e-01 9.22876331e-01 -5.91294976e-02 -4.89262653e+01] [-1.64912108e-01 -4.80537020e-03 9.86296560e-01 -2.91538089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:-48.94, Z:-29.16 [[ 9.10101661e-01 3.84751559e-01 1.53886988e-01 1.72894858e+02] [-3.80213334e-01 9.23008128e-01 -5.91085091e-02 -4.89373409e+01] [-1.64781032e-01 -4.71513244e-03 9.86318903e-01 -2.91596982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:-48.95, Z:-29.17 [[ 9.10454801e-01 3.84147800e-01 1.53305328e-01 1.72924572e+02] [-3.79630159e-01 9.23260361e-01 -5.89173009e-02 -4.89495512e+01] [-1.64173684e-01 -4.55778662e-03 9.86420918e-01 -2.91653869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:-48.96, Z:-29.17 [[ 9.10799782e-01 3.83316033e-01 1.53338107e-01 1.72954401e+02] [-3.78779310e-01 9.23606870e-01 -5.89625660e-02 -4.89627271e+01] [-1.64225426e-01 -4.37821027e-03 9.86413119e-01 -2.91710186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:-48.98, Z:-29.18 [[ 9.11495368e-01 3.81438764e-01 1.53885225e-01 1.72984562e+02] [-3.76837346e-01 9.24385352e-01 -5.92058800e-02 -4.89761829e+01] [-1.64832666e-01 -4.02381462e-03 9.86313338e-01 -2.91756416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:-48.99, Z:-29.18 [[ 9.11740695e-01 3.80656489e-01 1.54368202e-01 1.73014396e+02] [-3.76009326e-01 9.24708444e-01 -5.94245799e-02 -4.89876595e+01] [-1.65365932e-01 -3.86407580e-03 9.86224709e-01 -2.91811520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:-49.00, Z:-29.19 [[ 9.11814324e-01 3.80263483e-01 1.54901005e-01 1.73045077e+02] [-3.75573198e-01 9.24870485e-01 -5.96603653e-02 -4.89997789e+01] [-1.65950026e-01 -3.77749018e-03 9.86126929e-01 -2.91865296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:-49.01, Z:-29.19 [[ 9.11729969e-01 3.80272577e-01 1.55374484e-01 1.73074394e+02] [-3.75547708e-01 9.24866823e-01 -5.98772017e-02 -4.90113383e+01] [-1.66470364e-01 -3.75869231e-03 9.86039295e-01 -2.91915967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:-49.02, Z:-29.20 [[ 9.11262285e-01 3.81163985e-01 1.55932885e-01 1.73105207e+02] [-3.76414250e-01 9.24499151e-01 -6.01134996e-02 -4.90224040e+01] [-1.67072921e-01 -3.91619476e-03 9.85936764e-01 -2.91967946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.13, Y:-49.03, Z:-29.20 [[ 9.10847035e-01 3.82075748e-01 1.56127517e-01 1.73134622e+02] [-3.77321780e-01 9.24122101e-01 -6.02214056e-02 -4.90329872e+01] [-1.67290028e-01 -4.05782392e-03 9.85899377e-01 -2.92020449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:-49.04, Z:-29.21 [[ 9.09923571e-01 3.84373408e-01 1.55872316e-01 1.73164508e+02] [-3.79663309e-01 9.23167013e-01 -6.01534490e-02 -4.90415936e+01] [-1.67017566e-01 -4.44395803e-03 9.85943905e-01 -2.92079009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:-49.05, Z:-29.21 [[ 9.09558708e-01 3.85435715e-01 1.55377820e-01 1.73195660e+02] [-3.80766610e-01 9.22723227e-01 -5.99886176e-02 -4.90522891e+01] [-1.66492479e-01 -4.59951626e-03 9.86031997e-01 -2.92140934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:-49.06, Z:-29.22 [[ 9.09382811e-01 3.86075356e-01 1.54818352e-01 1.73226435e+02] [-3.81443690e-01 9.22455432e-01 -5.98054066e-02 -4.90626954e+01] [-1.65902424e-01 -4.66847470e-03 9.86131123e-01 -2.92201312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:-49.07, Z:-29.23 [[ 9.09406818e-01 3.86180925e-01 1.54413513e-01 1.73257256e+02] [-3.81569589e-01 9.22411363e-01 -5.96818767e-02 -4.90731370e+01] [-1.65480782e-01 -4.64439528e-03 9.86202079e-01 -2.92258326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.29, Y:-49.08, Z:-29.23 [[ 9.10262991e-01 3.84608035e-01 1.53290398e-01 1.73287828e+02] [-3.80036379e-01 9.23069992e-01 -5.92801892e-02 -4.90820154e+01] [-1.64297404e-01 -4.29536561e-03 9.86401497e-01 -2.92315868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:-49.09, Z:-29.24 [[ 9.10756136e-01 3.83528997e-01 1.53064589e-01 1.73316581e+02] [-3.78950524e-01 9.23519888e-01 -5.92242929e-02 -4.90917027e+01] [-1.64072426e-01 -4.06501798e-03 9.86439919e-01 -2.92376631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:-49.10, Z:-29.24 [[ 9.11219094e-01 3.82406355e-01 1.53118069e-01 1.73345847e+02] [-3.77808949e-01 9.23986172e-01 -5.92448429e-02 -4.91013893e+01] [-1.64134583e-01 -3.86434487e-03 9.86430385e-01 -2.92423756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:-49.11, Z:-29.25 [[ 9.12004526e-01 3.80422284e-01 1.53383930e-01 1.73374944e+02] [-3.75780224e-01 9.24806234e-01 -5.93519446e-02 -4.91080262e+01] [-1.64429217e-01 -3.50940543e-03 9.86382642e-01 -2.92469671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:-49.12, Z:-29.25 [[ 9.12298168e-01 3.79647250e-01 1.53557864e-01 1.73403070e+02] [-3.74984016e-01 9.25125165e-01 -5.94173024e-02 -4.91156453e+01] [-1.64617860e-01 -3.37544852e-03 9.86351644e-01 -2.92514967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:-49.12, Z:-29.26 [[ 9.12443554e-01 3.79030784e-01 1.54215515e-01 1.73430733e+02] [-3.74319188e-01 9.25378242e-01 -5.96678627e-02 -4.91230612e+01] [-1.65323639e-01 -3.28226966e-03 9.86233908e-01 -2.92565526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:-49.13, Z:-29.26 [[ 9.12982535e-01 3.77699244e-01 1.54292486e-01 1.73458577e+02] [-3.72965358e-01 9.25923311e-01 -5.96897259e-02 -4.91283335e+01] [-1.65407774e-01 -3.05007504e-03 9.86220546e-01 -2.92611522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:-49.14, Z:-29.27 [[ 9.13337703e-01 3.77024498e-01 1.53840073e-01 1.73488793e+02] [-3.72310854e-01 9.26198654e-01 -5.95036306e-02 -4.91375867e+01] [-1.64920795e-01 -2.92941973e-03 9.86302464e-01 -2.92667373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:173.52, Y:-49.15, Z:-29.27 [[ 9.13749110e-01 3.76153928e-01 1.53527801e-01 1.73518019e+02] [-3.71442456e-01 9.26553139e-01 -5.94119661e-02 -4.91463266e+01] [-1.64599711e-01 -2.73911255e-03 9.86356646e-01 -2.92710188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:-49.15, Z:-29.28 [[ 9.14894169e-01 3.73461146e-01 1.53282197e-01 1.73544141e+02] [-3.68722591e-01 9.27643156e-01 -5.93449684e-02 -4.91533978e+01] [-1.64354221e-01 -2.22424315e-03 9.86398876e-01 -2.92774105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:-49.16, Z:-29.28 [[ 9.15585059e-01 3.71795231e-01 1.53206743e-01 1.73571418e+02] [-3.67039993e-01 9.28312752e-01 -5.93049669e-02 -4.91622103e+01] [-1.64273077e-01 -1.93426031e-03 9.86413004e-01 -2.92826733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:-49.17, Z:-29.29 [[ 9.16368392e-01 3.69879363e-01 1.53160788e-01 1.73599099e+02] [-3.65101688e-01 9.29078417e-01 -5.92794421e-02 -4.91704950e+01] [-1.64224625e-01 -1.59745536e-03 9.86421675e-01 -2.92878958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.63, Y:-49.18, Z:-29.29 [[ 9.17863232e-01 3.66314913e-01 1.52775888e-01 1.73625649e+02] [-3.61513531e-01 9.30490438e-01 -5.91228539e-02 -4.91766963e+01] [-1.63814086e-01 -9.63857024e-04 9.86490758e-01 -2.92927349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:-49.19, Z:-29.30 [[ 9.18571907e-01 3.64634536e-01 1.52536248e-01 1.73655980e+02] [-3.59827116e-01 9.31150472e-01 -5.90190230e-02 -4.91871178e+01] [-1.63554573e-01 -6.73461815e-04 9.86534058e-01 -2.92986826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:-49.20, Z:-29.30 [[ 9.19336231e-01 3.62743935e-01 1.52439276e-01 1.73684129e+02] [-3.57911873e-01 9.31888804e-01 -5.90114262e-02 -4.91963485e+01] [-1.63462491e-01 -3.08484620e-04 9.86549501e-01 -2.93039857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:-49.21, Z:-29.31 [[ 9.20492887e-01 3.59622697e-01 1.52854049e-01 1.73715066e+02] [-3.54721183e-01 9.33097773e-01 -5.91728606e-02 -4.92069979e+01] [-1.63907677e-01 2.47628089e-04 9.86475652e-01 -2.93090901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:-49.22, Z:-29.31 [[ 9.20981421e-01 3.58301197e-01 1.53014619e-01 1.73744220e+02] [-3.53365464e-01 9.33605905e-01 -5.92694086e-02 -4.92184537e+01] [-1.64091652e-01 5.15942265e-04 9.86444962e-01 -2.93145379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:-49.23, Z:-29.32 [[ 9.21495863e-01 3.56957927e-01 1.53056897e-01 1.73774486e+02] [-3.51995737e-01 9.34120132e-01 -5.93176156e-02 -4.92303489e+01] [-1.64147422e-01 7.85562086e-04 9.86435506e-01 -2.93199124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:-49.24, Z:-29.33 [[ 9.21933446e-01 3.55759834e-01 1.53211170e-01 1.73804321e+02] [-3.50765476e-01 9.34576843e-01 -5.94113268e-02 -4.92419886e+01] [-1.64323775e-01 1.03210045e-03 9.86405916e-01 -2.93252931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.83, Y:-49.25, Z:-29.33 [[ 9.22351965e-01 3.54482697e-01 1.53651785e-01 1.73834835e+02] [-3.49438335e-01 9.35061694e-01 -5.96026667e-02 -4.92538389e+01] [-1.64802012e-01 1.28281295e-03 9.86325834e-01 -2.93304434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:-49.27, Z:-29.34 [[ 9.22396443e-01 3.54231037e-01 1.53964850e-01 1.73865173e+02] [-3.49156728e-01 9.35156946e-01 -5.97583860e-02 -4.92658830e+01] [-1.65149574e-01 1.36305939e-03 9.86267591e-01 -2.93358593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:-49.28, Z:-29.34 [[ 9.22327075e-01 3.54204737e-01 1.54440186e-01 1.73894288e+02] [-3.49092659e-01 9.35166846e-01 -5.99773728e-02 -4.92776986e+01] [-1.65671611e-01 1.40481976e-03 9.86179975e-01 -2.93410096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:-49.29, Z:-29.35 [[ 9.21846860e-01 3.55200181e-01 1.55019993e-01 1.73924273e+02] [-3.50057915e-01 9.34789410e-01 -6.02346699e-02 -4.92911279e+01] [-1.66306413e-01 1.26116588e-03 9.86073317e-01 -2.93456605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:173.95, Y:-49.30, Z:-29.35 [[ 9.21452830e-01 3.56290595e-01 1.54860238e-01 1.73954610e+02] [-3.51168360e-01 9.34374555e-01 -6.02077562e-02 -4.93033056e+01] [-1.66148923e-01 1.09659180e-03 9.86100062e-01 -2.93504466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:-49.32, Z:-29.36 [[ 9.20353853e-01 3.59270879e-01 1.54509611e-01 1.73983894e+02] [-3.54207709e-01 9.33233136e-01 -6.01066776e-02 -4.93151133e+01] [-1.65788067e-01 5.90917062e-04 9.86161228e-01 -2.93573190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:-49.33, Z:-29.36 [[ 9.19774622e-01 3.60910462e-01 1.54137219e-01 1.74012000e+02] [-3.55891082e-01 9.32600418e-01 -5.99833236e-02 -4.93263875e+01] [-1.65397044e-01 3.15077232e-04 9.86227012e-01 -2.93627879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:-49.34, Z:-29.37 [[ 9.19210957e-01 3.62571817e-01 1.53599784e-01 1.74042049e+02] [-3.57606201e-01 9.31955834e-01 -5.98007450e-02 -4.93378608e+01] [-1.64830280e-01 4.12648270e-05 9.86321944e-01 -2.93680085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:-49.35, Z:-29.37 [[ 9.18539112e-01 3.64354456e-01 1.53400552e-01 1.74072429e+02] [-3.59420859e-01 9.31260312e-01 -5.97568098e-02 -4.93490167e+01] [-1.64628506e-01 -2.46391145e-04 9.86355613e-01 -2.93738796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:-49.36, Z:-29.38 [[ 9.17510275e-01 3.66939796e-01 1.53395179e-01 1.74102610e+02] [-3.62036488e-01 9.30244446e-01 -5.97900724e-02 -4.93591393e+01] [-1.64634370e-01 -6.76645991e-04 9.86354432e-01 -2.93803316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:-49.37, Z:-29.39 [[ 9.17096029e-01 3.68072200e-01 1.53159160e-01 1.74131342e+02] [-3.63194087e-01 9.29796827e-01 -5.97320369e-02 -4.93708433e+01] [-1.64392603e-01 -8.46487467e-04 9.86394625e-01 -2.93856752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:-49.38, Z:-29.39 [[ 9.16442850e-01 3.69896010e-01 1.52674309e-01 1.74161243e+02] [-3.65073546e-01 9.29072430e-01 -5.95459952e-02 -4.93825408e+01] [-1.63871317e-01 -1.16684976e-03 9.86481034e-01 -2.93912843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:-49.39, Z:-29.40 [[ 9.16411731e-01 3.69977983e-01 1.52662477e-01 1.74191956e+02] [-3.65151598e-01 9.29039812e-01 -5.95763145e-02 -4.93946557e+01] [-1.63871443e-01 -1.14851389e-03 9.86481034e-01 -2.93969820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:-49.41, Z:-29.40 [[ 9.16017309e-01 3.71042776e-01 1.52445226e-01 1.74222979e+02] [-3.66242497e-01 9.28614832e-01 -5.95056921e-02 -4.94057138e+01] [-1.63642055e-01 -1.32367614e-03 9.86518893e-01 -2.94025293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:-49.42, Z:-29.41 [[ 9.15595991e-01 3.72114625e-01 1.52363664e-01 1.74253097e+02] [-3.67328532e-01 9.28185601e-01 -5.95083192e-02 -4.94167648e+01] [-1.63565674e-01 -1.48194234e-03 9.86531335e-01 -2.94087387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:-49.43, Z:-29.41 [[ 9.15239952e-01 3.73125962e-01 1.52029100e-01 1.74282492e+02] [-3.68369119e-01 9.27779269e-01 -5.94122923e-02 -4.94280334e+01] [-1.63217716e-01 -1.62632214e-03 9.86588735e-01 -2.94140695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:-49.44, Z:-29.42 [[ 9.14927439e-01 3.74002613e-01 1.51755810e-01 1.74311409e+02] [-3.69269424e-01 9.27426002e-01 -5.93388827e-02 -4.94389073e+01] [-1.62935181e-01 -1.74800836e-03 9.86635227e-01 -2.94197098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:-49.45, Z:-29.42 [[ 9.14336098e-01 3.75496711e-01 1.51630210e-01 1.74338879e+02] [-3.70791047e-01 9.26821551e-01 -5.92942842e-02 -4.94475079e+01] [-1.62798955e-01 -2.00822006e-03 9.86657219e-01 -2.94249354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:-49.46, Z:-29.43 [[ 9.13973829e-01 3.76354957e-01 1.51686473e-01 1.74368291e+02] [-3.71658091e-01 9.26473021e-01 -5.93127731e-02 -4.94584733e+01] [-1.62856081e-01 -2.16518281e-03 9.86647459e-01 -2.94303892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:-49.47, Z:-29.44 [[ 9.13809205e-01 3.76792512e-01 1.51592018e-01 1.74395911e+02] [-3.72102363e-01 9.26295044e-01 -5.93070249e-02 -4.94688755e+01] [-1.62765378e-01 -2.21244276e-03 9.86662322e-01 -2.94355807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:-49.48, Z:-29.44 [[ 9.13529850e-01 3.77394910e-01 1.51777126e-01 1.74422235e+02] [-3.72701040e-01 9.26049512e-01 -5.93821192e-02 -4.94780491e+01] [-1.62963643e-01 -2.32015411e-03 9.86629347e-01 -2.94400306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:-49.49, Z:-29.45 [[ 9.13498202e-01 3.77433274e-01 1.51872178e-01 1.74449569e+02] [-3.72735725e-01 9.26033831e-01 -5.94089449e-02 -4.94870436e+01] [-1.63061687e-01 -2.33822186e-03 9.86613105e-01 -2.94455952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:-49.50, Z:-29.45 [[ 9.13572622e-01 3.77384321e-01 1.51545830e-01 1.74476310e+02] [-3.72707749e-01 9.26053797e-01 -5.92730778e-02 -4.94953692e+01] [-1.62708321e-01 -2.33204396e-03 9.86671457e-01 -2.94506655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.05587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:174.50, Y:-49.50, Z:-29.45 [[ 9.13662998e-01 3.77133539e-01 1.51625262e-01 1.74503210e+02] [-3.72449957e-01 9.26156045e-01 -5.92959481e-02 -4.95049396e+01] [-1.62791144e-01 -2.29630867e-03 9.86657879e-01 -2.94547981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:-49.51, Z:-29.46 [[ 9.13908494e-01 3.76418759e-01 1.51921635e-01 1.74530222e+02] [-3.71708317e-01 9.26447063e-01 -5.94034258e-02 -4.95140703e+01] [-1.63107916e-01 -2.18123975e-03 9.86605823e-01 -2.94606963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:-49.52, Z:-29.47 [[ 9.14418900e-01 3.74984883e-01 1.52395582e-01 1.74556219e+02] [-3.70226426e-01 9.27028897e-01 -5.95803431e-02 -4.95225577e+01] [-1.63616836e-01 -1.93947978e-03 9.86522057e-01 -2.94651777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.58, Y:-49.53, Z:-29.47 [[ 9.14712635e-01 3.74230342e-01 1.52487533e-01 1.74582564e+02] [-3.69457431e-01 9.27334004e-01 -5.96058010e-02 -4.95316399e+01] [-1.63713174e-01 -1.81547280e-03 9.86506311e-01 -2.94696812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:-49.54, Z:-29.47 [[ 9.15015445e-01 3.73402170e-01 1.52700869e-01 1.74611941e+02] [-3.68606168e-01 9.27668043e-01 -5.96782656e-02 -4.95415567e+01] [-1.63939710e-01 -1.67994732e-03 9.86468930e-01 -2.94749280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:-49.55, Z:-29.48 [[ 9.15200862e-01 3.72761513e-01 1.53154288e-01 1.74642053e+02] [-3.67927311e-01 9.27925859e-01 -5.98589529e-02 -4.95514674e+01] [-1.64428938e-01 -1.56668006e-03 9.86387687e-01 -2.94802942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:-49.56, Z:-29.49 [[ 9.15984880e-01 3.70877002e-01 1.53042309e-01 1.74670633e+02] [-3.66018559e-01 9.28681223e-01 -5.98464705e-02 -4.95590983e+01] [-1.64323198e-01 -1.19786322e-03 9.86405825e-01 -2.94857717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:-49.57, Z:-29.49 [[ 9.16367575e-01 3.69937558e-01 1.53025066e-01 1.74698658e+02] [-3.65065305e-01 9.29056062e-01 -5.98511229e-02 -4.95687010e+01] [-1.64310044e-01 -1.01851423e-03 9.86408218e-01 -2.94909284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:174.73, Y:-49.58, Z:-29.50 [[ 9.16619947e-01 3.69440230e-01 1.52714731e-01 1.74727620e+02] [-3.64581730e-01 9.29254028e-01 -5.97253183e-02 -4.95788830e+01] [-1.63975714e-01 -9.31582763e-04 9.86463936e-01 -2.94952505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:-49.59, Z:-29.50 [[ 9.17116555e-01 3.68139659e-01 1.52873859e-01 1.74755178e+02] [-3.63252968e-01 9.29770242e-01 -5.97877840e-02 -4.95858991e+01] [-1.64147819e-01 -6.99516606e-04 9.86435504e-01 -2.95017014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:-49.59, Z:-29.51 [[ 9.17367780e-01 3.67326363e-01 1.53322205e-01 1.74780861e+02] [-3.62400556e-01 9.30091946e-01 -5.99567297e-02 -4.95943573e+01] [-1.64627435e-01 -5.61680162e-04 9.86355662e-01 -2.95064725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:-49.60, Z:-29.51 [[ 9.17713815e-01 3.66432831e-01 1.53389485e-01 1.74807020e+02] [-3.61492056e-01 9.30444416e-01 -5.99723487e-02 -4.96030283e+01] [-1.64696227e-01 -4.11627310e-04 9.86344252e-01 -2.95112325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:-49.61, Z:-29.52 [[ 9.18374565e-01 3.64599125e-01 1.53803890e-01 1.74835575e+02] [-3.59607708e-01 9.31164577e-01 -6.01234315e-02 -4.96117213e+01] [-1.65137684e-01 -9.32339477e-05 9.86270519e-01 -2.95163913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.86, Y:-49.62, Z:-29.52 [[ 9.18770926e-01 3.63547687e-01 1.53925517e-01 1.74863287e+02] [-3.58533647e-01 9.31575585e-01 -6.01710395e-02 -4.96216396e+01] [-1.65268296e-01 9.59247169e-05 9.86248641e-01 -2.95215567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:-49.63, Z:-29.53 [[ 9.19206758e-01 3.62419671e-01 1.53983500e-01 1.74888824e+02] [-3.57386437e-01 9.32014965e-01 -6.01916973e-02 -4.96306802e+01] [-1.65329581e-01 2.97000583e-04 9.86238329e-01 -2.95262854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:-49.64, Z:-29.53 [[ 9.20015183e-01 3.60203164e-01 1.54355902e-01 1.74915250e+02] [-3.55115789e-01 9.32873628e-01 -6.03288543e-02 -4.96397971e+01] [-1.65725195e-01 6.89243847e-04 9.86171732e-01 -2.95313081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.94, Y:-49.65, Z:-29.54 [[ 9.20336934e-01 3.59438522e-01 1.54220225e-01 1.74941625e+02] [-3.54350892e-01 9.33168409e-01 -6.02674549e-02 -4.96495142e+01] [-1.65575886e-01 8.18290556e-04 9.86196713e-01 -2.95359355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.97, Y:-49.66, Z:-29.54 [[ 9.20802678e-01 3.58394736e-01 1.53868911e-01 1.74968604e+02] [-3.53317336e-01 9.33569613e-01 -6.01218636e-02 -4.96593234e+01] [-1.65194699e-01 9.95819121e-04 9.86260473e-01 -2.95411907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:-49.67, Z:-29.55 [[ 9.20883808e-01 3.58186085e-01 1.53869233e-01 1.74995599e+02] [-3.53107181e-01 9.33649654e-01 -6.01135718e-02 -4.96693862e+01] [-1.65191801e-01 1.02528365e-03 9.86260928e-01 -2.95464572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:-49.68, Z:-29.55 [[ 9.20809170e-01 3.58369855e-01 1.53888008e-01 1.75022321e+02] [-3.53292962e-01 9.33579172e-01 -6.01166623e-02 -4.96796120e+01] [-1.65210639e-01 9.88423620e-04 9.86257810e-01 -2.95517455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:175.05, Y:-49.69, Z:-29.56 [[ 9.20719503e-01 3.58666877e-01 1.53732457e-01 1.75048718e+02] [-3.53605163e-01 9.33465161e-01 -6.00514967e-02 -4.96893373e+01] [-1.65042375e-01 9.29993928e-04 9.86286038e-01 -2.95555035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68587156000004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:175.07, Y:-49.70, Z:-29.56 [[ 9.20206580e-01 3.60145336e-01 1.53346622e-01 1.75074164e+02] [-3.55130935e-01 9.32895979e-01 -5.98924999e-02 -4.96991604e+01] [-1.64626452e-01 6.55343293e-04 9.86355768e-01 -2.95602437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:-49.71, Z:-29.57 [[ 9.19849054e-01 3.61014263e-01 1.53448429e-01 1.75100354e+02] [-3.56006905e-01 9.32560165e-01 -5.99217965e-02 -4.97091567e+01] [-1.64732515e-01 4.90307539e-04 9.86338156e-01 -2.95670169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.13, Y:-49.72, Z:-29.57 [[ 9.19590761e-01 3.61974228e-01 1.52733399e-01 1.75126374e+02] [-3.57028258e-01 9.32188051e-01 -5.96343912e-02 -4.97186699e+01] [-1.63962362e-01 3.09095987e-04 9.86466547e-01 -2.95725004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.15, Y:-49.73, Z:-29.58 [[ 9.19258959e-01 3.63200838e-01 1.51816068e-01 1.75151761e+02] [-3.58332797e-01 9.31710870e-01 -5.92660257e-02 -4.97280137e+01] [-1.62974151e-01 8.01487295e-05 9.86630336e-01 -2.95765550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:175.18, Y:-49.74, Z:-29.58 [[ 9.18633844e-01 3.65168703e-01 1.50876373e-01 1.75179302e+02] [-3.60389185e-01 9.30941320e-01 -5.88888251e-02 -4.97378449e+01] [-1.61961406e-01 -2.76945280e-04 9.86797054e-01 -2.95819201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:-49.75, Z:-29.59 [[ 9.18238857e-01 3.66082584e-01 1.51066023e-01 1.75206796e+02] [-3.61303951e-01 9.30582262e-01 -5.89585364e-02 -4.97475932e+01] [-1.62163054e-01 -4.42731839e-04 9.86763876e-01 -2.95876489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:175.23, Y:-49.76, Z:-29.59 [[ 9.17497400e-01 3.67710521e-01 1.51616273e-01 1.75233557e+02] [-3.62919503e-01 9.29940014e-01 -5.91692841e-02 -4.97565510e+01] [-1.62751207e-01 -7.36838275e-04 9.86666865e-01 -2.95906762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:-49.77, Z:-29.60 [[ 9.17128467e-01 3.68309636e-01 1.52392218e-01 1.75258699e+02] [-3.63479294e-01 9.29702788e-01 -5.94603083e-02 -4.97657929e+01] [-1.63579274e-01 -8.58674250e-04 9.86529819e-01 -2.95964490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:175.28, Y:-49.77, Z:-29.60 [[ 9.16877748e-01 3.68812911e-01 1.52683434e-01 1.75283845e+02] [-3.63972625e-01 9.29503155e-01 -5.95635255e-02 -4.97747598e+01] [-1.63887531e-01 -9.60119128e-04 9.86478563e-01 -2.95993094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:175.31, Y:-49.78, Z:-29.60 [[ 9.16190103e-01 3.69948080e-01 1.54058800e-01 1.75311292e+02] [-3.65037982e-01 9.29051671e-01 -6.00854726e-02 -4.97835724e+01] [-1.65357091e-01 -1.18759813e-03 9.86233047e-01 -2.96036145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:-49.79, Z:-29.61 [[ 9.15836348e-01 3.70519549e-01 1.54787105e-01 1.75336934e+02] [-3.65572199e-01 9.28823751e-01 -6.03606425e-02 -4.97922623e+01] [-1.66134738e-01 -1.30539205e-03 9.86102198e-01 -2.96091283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:175.36, Y:-49.80, Z:-29.61 [[ 9.15687375e-01 3.70748484e-01 1.55119931e-01 1.75362806e+02] [-3.65784810e-01 9.28732314e-01 -6.04794268e-02 -4.98013213e+01] [-1.66487548e-01 -1.36026698e-03 9.86042619e-01 -2.96123082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:-49.81, Z:-29.62 [[ 9.15924496e-01 3.70282586e-01 1.54832571e-01 1.75389053e+02] [-3.65332970e-01 9.28918271e-01 -6.03545043e-02 -4.98106328e+01] [-1.66175026e-01 -1.28527421e-03 9.86095436e-01 -2.96188879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.41, Y:-49.82, Z:-29.62 [[ 9.16322466e-01 3.69580628e-01 1.54153487e-01 1.75414567e+02] [-3.64666209e-01 9.29197940e-01 -6.00811477e-02 -4.98208011e+01] [-1.65443931e-01 -1.16086234e-03 9.86218514e-01 -2.96238217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:-49.83, Z:-29.63 [[ 9.16888422e-01 3.68330411e-01 1.53780135e-01 1.75441290e+02] [-3.63424439e-01 9.29694475e-01 -5.99237877e-02 -4.98310292e+01] [-1.65040295e-01 -9.44032038e-04 9.86286373e-01 -2.96293725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:-49.84, Z:-29.63 [[ 9.18083259e-01 3.65660827e-01 1.53020554e-01 1.75466911e+02] [-3.60768092e-01 9.30748054e-01 -5.96191624e-02 -4.98411049e+01] [-1.64223975e-01 -4.69578456e-04 9.86422965e-01 -2.96345900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.49, Y:-49.85, Z:-29.64 [[ 9.18616619e-01 3.64378653e-01 1.52878070e-01 1.75493264e+02] [-3.59479259e-01 9.31250844e-01 -5.95527323e-02 -4.98517644e+01] [-1.64067576e-01 -2.50365810e-04 9.86449070e-01 -2.96398838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.52, Y:-49.86, Z:-29.64 [[ 9.19107983e-01 3.63127438e-01 1.52901859e-01 1.75518433e+02] [-3.58210686e-01 9.31739482e-01 -5.95536902e-02 -4.98618978e+01] [-1.64090278e-01 -3.48076654e-05 9.86445325e-01 -2.96443963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.55, Y:-49.87, Z:-29.65 [[ 9.19595215e-01 3.62073680e-01 1.52470620e-01 1.75545530e+02] [-3.57172149e-01 9.32149467e-01 -5.93753007e-02 -4.98724887e+01] [-1.63623640e-01 1.42983500e-04 9.86522825e-01 -2.96474613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.57, Y:-49.88, Z:-29.65 [[ 9.20225732e-01 3.60628405e-01 1.52091272e-01 1.75572391e+02] [-3.55733169e-01 9.32709494e-01 -5.92191875e-02 -4.98820699e+01] [-1.63213095e-01 3.91110027e-04 9.86590763e-01 -2.96541005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.60, Y:-49.89, Z:-29.66 [[ 9.20328748e-01 3.60550295e-01 1.51652498e-01 1.75598040e+02] [-3.55683784e-01 9.32739689e-01 -5.90399668e-02 -4.98919387e+01] [-1.62739182e-01 3.95844206e-04 9.86669044e-01 -2.96585608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.62, Y:-49.90, Z:-29.66 [[ 9.20265731e-01 3.60452732e-01 1.52265597e-01 1.75624883e+02] [-3.55546995e-01 9.32777393e-01 -5.92677804e-02 -4.99025924e+01] [-1.63393140e-01 4.04531851e-04 9.86560955e-01 -2.96636363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.65, Y:-49.91, Z:-29.67 [[ 9.19885488e-01 3.60897736e-01 1.53504112e-01 1.75651572e+02] [-3.55918186e-01 9.32605339e-01 -5.97455081e-02 -4.99133144e+01] [-1.64720773e-01 3.24120585e-04 9.86340186e-01 -2.96671495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37587156000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:175.68, Y:-49.92, Z:-29.67 [[ 9.19599251e-01 3.61335994e-01 1.54186632e-01 1.75677673e+02] [-3.56318955e-01 9.32435650e-01 -6.00046735e-02 -4.99227504e+01] [-1.65450960e-01 2.40633396e-04 9.86217989e-01 -2.96698026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.70, Y:-49.93, Z:-29.68 [[ 9.19238150e-01 3.61905322e-01 1.55002456e-01 1.75703710e+02] [-3.56844490e-01 9.32214847e-01 -6.03115963e-02 -4.99319729e+01] [-1.66322679e-01 1.28947836e-04 9.86071372e-01 -2.96757533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:-49.94, Z:-29.68 [[ 9.18626425e-01 3.63585194e-01 1.54697442e-01 1.75730080e+02] [-3.58569763e-01 9.31560933e-01 -6.01826591e-02 -4.99405809e+01] [-1.65991618e-01 -1.84444295e-04 9.86127146e-01 -2.96805791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:175.76, Y:-49.95, Z:-29.68 [[ 9.18297810e-01 3.64525247e-01 1.54435993e-01 1.75756645e+02] [-3.59542142e-01 9.31193434e-01 -6.00686032e-02 -4.99503114e+01] [-1.65706305e-01 -3.65380972e-04 9.86175079e-01 -2.96839642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.78, Y:-49.96, Z:-29.69 [[ 9.17842959e-01 3.65647421e-01 1.54487107e-01 1.75783463e+02] [-3.60678205e-01 9.30753260e-01 -6.00799529e-02 -4.99600318e+01] [-1.65757458e-01 -5.76170685e-04 9.86166382e-01 -2.96902888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.81, Y:-49.97, Z:-29.70 [[ 9.16898942e-01 3.68236152e-01 1.53943063e-01 1.75810441e+02] [-3.63339740e-01 9.29731702e-01 -5.98598049e-02 -4.99675020e+01] [-1.65168290e-01 -1.04824054e-03 9.86264841e-01 -2.96953713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:-49.98, Z:-29.70 [[ 9.16459005e-01 3.69605917e-01 1.53278693e-01 1.75836170e+02] [-3.64772736e-01 9.29187698e-01 -5.95908794e-02 -4.99756291e+01] [-1.64449818e-01 -1.29929027e-03 9.86384595e-01 -2.96996298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-49.98, Z:-29.70 [[ 9.15986871e-01 3.70777342e-01 1.53271703e-01 1.75863414e+02] [-3.65963345e-01 9.28720540e-01 -5.95733824e-02 -4.99841547e+01] [-1.64435039e-01 -1.52338892e-03 9.86386738e-01 -2.97046638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.89, Y:-49.99, Z:-29.71 [[ 9.16014773e-01 3.70707213e-01 1.53274584e-01 1.75890386e+02] [-3.65893482e-01 9.28748543e-01 -5.95659690e-02 -4.99945330e+01] [-1.64435081e-01 -1.51886359e-03 9.86386738e-01 -2.97096500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:-50.00, Z:-29.71 [[ 9.14955232e-01 3.73140175e-01 1.53698838e-01 1.75917136e+02] [-3.68335857e-01 9.27772878e-01 -5.97175254e-02 -5.00000737e+01] [-1.64880621e-01 -1.97393095e-03 9.86311555e-01 -2.97140595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:-50.01, Z:-29.72 [[ 9.14562290e-01 3.74095475e-01 1.53715298e-01 1.75942339e+02] [-3.69306964e-01 9.27387667e-01 -5.97032756e-02 -5.00073304e+01] [-1.64888397e-01 -2.16576557e-03 9.86309853e-01 -2.97187067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:-50.02, Z:-29.72 [[ 9.14340240e-01 3.74784424e-01 1.53357626e-01 1.75967639e+02] [-3.70030347e-01 9.27109138e-01 -5.95498819e-02 -5.00151767e+01] [-1.64497624e-01 -2.29812207e-03 9.86374802e-01 -2.97232470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:-50.02, Z:-29.73 [[ 9.14110511e-01 3.75410725e-01 1.53195175e-01 1.75994839e+02] [-3.70677907e-01 9.26855395e-01 -5.94723995e-02 -5.00218764e+01] [-1.64316351e-01 -2.42172144e-03 9.86404720e-01 -2.97284622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:176.02, Y:-50.03, Z:-29.73 [[ 9.14273449e-01 3.75157890e-01 1.52841808e-01 1.76021970e+02] [-3.70445594e-01 9.26957864e-01 -5.93226806e-02 -5.00297910e+01] [-1.63933288e-01 -2.38242261e-03 9.86468551e-01 -2.97322427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:176.05, Y:-50.04, Z:-29.74 [[ 9.14546524e-01 3.74504568e-01 1.52810286e-01 1.76048849e+02] [-3.69787249e-01 9.27222274e-01 -5.92979347e-02 -5.00379124e+01] [-1.63896448e-01 -2.27657516e-03 9.86474922e-01 -2.97374679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:-50.05, Z:-29.74 [[ 9.14908792e-01 3.73618835e-01 1.52809913e-01 1.76074336e+02] [-3.68891349e-01 9.27579878e-01 -5.92852581e-02 -5.00462006e+01] [-1.63893490e-01 -2.12965117e-03 9.86475742e-01 -2.97434538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.10, Y:-50.05, Z:-29.75 [[ 9.15928512e-01 3.70899598e-01 1.53324650e-01 1.76101266e+02] [-3.66104594e-01 9.28671484e-01 -5.94701782e-02 -5.00521680e+01] [-1.64445696e-01 -1.66242695e-03 9.86384737e-01 -2.97473050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.13, Y:-50.06, Z:-29.75 [[ 9.16587785e-01 3.69244848e-01 1.53378857e-01 1.76126260e+02] [-3.64425609e-01 9.29331126e-01 -5.94780063e-02 -5.00600206e+01] [-1.64501694e-01 -1.37836941e-03 9.86375838e-01 -2.97517255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:-50.07, Z:-29.76 [[ 9.18205437e-01 3.64983293e-01 1.53902472e-01 1.76152888e+02] [-3.60073932e-01 9.31013855e-01 -5.96654531e-02 -5.00686376e+01] [-1.65062227e-01 -6.31124607e-04 9.86282953e-01 -2.97563468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:176.18, Y:-50.08, Z:-29.76 [[ 9.19238033e-01 3.62335673e-01 1.53994475e-01 1.76178352e+02] [-3.57385579e-01 9.32047655e-01 -5.96884903e-02 -5.00780715e+01] [-1.65157459e-01 -1.67474166e-04 9.86267198e-01 -2.97597629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:-50.09, Z:-29.77 [[ 9.20070996e-01 3.60038727e-01 1.54406854e-01 1.76204173e+02] [-3.55032239e-01 9.32937330e-01 -5.98335013e-02 -5.00881200e+01] [-1.65594296e-01 2.31657900e-04 9.86193934e-01 -2.97655345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:-50.10, Z:-29.77 [[ 9.21942993e-01 3.55208050e-01 1.54429141e-01 1.76228928e+02] [-3.50134718e-01 9.34786637e-01 -5.98299529e-02 -5.00964160e+01] [-1.65610378e-01 1.08880206e-03 9.86190660e-01 -2.97704592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:-50.11, Z:-29.78 [[ 9.22702737e-01 3.53210993e-01 1.54472177e-01 1.76253631e+02] [-3.48109376e-01 9.35542590e-01 -5.98324771e-02 -5.01064100e+01] [-1.65648790e-01 1.43437708e-03 9.86183766e-01 -2.97756189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.28, Y:-50.12, Z:-29.78 [[ 9.23628041e-01 3.51018276e-01 1.53939639e-01 1.76279177e+02] [-3.45924091e-01 9.36366862e-01 -5.96122707e-02 -5.01161718e+01] [-1.65068973e-01 1.80813509e-03 9.86280368e-01 -2.97791779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:-50.13, Z:-29.79 [[ 9.25087569e-01 3.47300527e-01 1.53607726e-01 1.76304476e+02] [-3.42179455e-01 9.37750668e-01 -5.94718840e-02 -5.01273401e+01] [-1.64700365e-01 2.45529263e-03 9.86340591e-01 -2.97853619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:-50.14, Z:-29.79 [[ 9.25810356e-01 3.45475253e-01 1.53368949e-01 1.76330228e+02] [-3.40347391e-01 9.38423791e-01 -5.93670153e-02 -5.01376348e+01] [-1.64434905e-01 2.76387577e-03 9.86384065e-01 -2.97904380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:-50.15, Z:-29.79 [[ 9.26375114e-01 3.44094741e-01 1.53061942e-01 1.76356394e+02] [-3.38970627e-01 9.38930165e-01 -5.92373179e-02 -5.01482591e+01] [-1.64097724e-01 2.99247460e-03 9.86439548e-01 -2.97949311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:-50.16, Z:-29.80 [[ 9.27102970e-01 3.42009530e-01 1.53328290e-01 1.76381031e+02] [-3.36840494e-01 9.39690478e-01 -5.93320097e-02 -5.01594621e+01] [-1.64373246e-01 3.35970552e-03 9.86392492e-01 -2.97992522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:-50.17, Z:-29.80 [[ 9.27346125e-01 3.41313086e-01 1.53409716e-01 1.76406847e+02] [-3.36130823e-01 9.39943244e-01 -5.93529117e-02 -5.01707915e+01] [-1.64454352e-01 3.47495852e-03 9.86378574e-01 -2.98042245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:-50.18, Z:-29.81 [[ 9.27513056e-01 3.40912026e-01 1.53292272e-01 1.76434138e+02] [-3.35733739e-01 9.40088556e-01 -5.92989329e-02 -5.01827302e+01] [-1.64324030e-01 3.53514679e-03 9.86400079e-01 -2.98090914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:-50.19, Z:-29.81 [[ 9.27385830e-01 3.41409524e-01 1.52954432e-01 1.76458986e+02] [-3.36261580e-01 9.39908365e-01 -5.91643091e-02 -5.01949670e+01] [-1.63962409e-01 3.43544294e-03 9.86460606e-01 -2.98141538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.48, Y:-50.21, Z:-29.82 [[ 9.27106939e-01 3.42131102e-01 1.53032786e-01 1.76484297e+02] [-3.36989348e-01 9.39646434e-01 -5.91841004e-02 -5.02062994e+01] [-1.64045433e-01 3.29957149e-03 9.86447266e-01 -2.98189240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:-50.22, Z:-29.82 [[ 9.26757137e-01 3.42955609e-01 1.53305772e-01 1.76510074e+02] [-3.37807928e-01 9.39346325e-01 -5.92814151e-02 -5.02173949e+01] [-1.64338107e-01 3.15156937e-03 9.86399034e-01 -2.98235254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:-50.23, Z:-29.83 [[ 9.26031572e-01 3.44816071e-01 1.53516793e-01 1.76534823e+02] [-3.39680839e-01 9.38666042e-01 -5.93547809e-02 -5.02292110e+01] [-1.64567483e-01 2.81768810e-03 9.86361802e-01 -2.98281258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:-50.24, Z:-29.83 [[ 9.25731337e-01 3.45635431e-01 1.53484986e-01 1.76560536e+02] [-3.40515242e-01 9.38365102e-01 -5.93321671e-02 -5.02409990e+01] [-1.64532253e-01 2.66166931e-03 9.86368112e-01 -2.98327412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:176.59, Y:-50.25, Z:-29.84 [[ 9.25622436e-01 3.45989810e-01 1.53343268e-01 1.76586426e+02] [-3.40885336e-01 9.38234699e-01 -5.92691885e-02 -5.02527874e+01] [-1.64378510e-01 2.58841930e-03 9.86393940e-01 -2.98373736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.61, Y:-50.27, Z:-29.84 [[ 9.25572688e-01 3.46444977e-01 1.52614148e-01 1.76610385e+02] [-3.41396767e-01 9.38066996e-01 -5.89793005e-02 -5.02650194e+01] [-1.63595378e-01 2.48765290e-03 9.86524386e-01 -2.98430764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.63, Y:-50.28, Z:-29.85 [[ 9.25744686e-01 3.46486945e-01 1.51471361e-01 1.76634695e+02] [-3.41516820e-01 9.38051591e-01 -5.85275582e-02 -5.02794291e+01] [-1.62366986e-01 2.45155851e-03 9.86727395e-01 -2.98484794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:176.66, Y:-50.29, Z:-29.85 [[ 9.25766844e-01 3.46500808e-01 1.51304133e-01 1.76660919e+02] [-3.41543249e-01 9.38046504e-01 -5.84548204e-02 -5.02919589e+01] [-1.62184955e-01 2.43862951e-03 9.86757363e-01 -2.98527376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.69, Y:-50.31, Z:-29.86 [[ 9.25383349e-01 3.47300088e-01 1.51816688e-01 1.76685417e+02] [-3.42319993e-01 9.37751218e-01 -5.86487539e-02 -5.03074648e+01] [-1.62735001e-01 2.30269285e-03 9.86667126e-01 -2.98576036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.71, Y:-50.32, Z:-29.86 [[ 9.25077035e-01 3.48027035e-01 1.52018623e-01 1.76710945e+02] [-3.43044348e-01 9.37481981e-01 -5.87206105e-02 -5.03201818e+01] [-1.62951080e-01 2.17195871e-03 9.86631759e-01 -2.98614575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.74, Y:-50.33, Z:-29.87 [[ 9.24559819e-01 3.49242634e-01 1.52376910e-01 1.76735455e+02] [-3.44253962e-01 9.37030288e-01 -5.88510779e-02 -5.03324628e+01] [-1.63335086e-01 1.95498688e-03 9.86568714e-01 -2.98658134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:-50.35, Z:-29.87 [[ 9.23927030e-01 3.50836916e-01 1.52552619e-01 1.76762892e+02] [-3.45859966e-01 9.36435094e-01 -5.89083904e-02 -5.03460877e+01] [-1.63522864e-01 1.66521073e-03 9.86538139e-01 -2.98719372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:-50.36, Z:-29.88 [[ 9.22479188e-01 3.54642907e-01 1.52514116e-01 1.76787868e+02] [-3.49719331e-01 9.35001293e-01 -5.88979719e-02 -5.03612862e+01] [-1.63488644e-01 9.95018685e-04 9.86544714e-01 -2.98767587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:-50.37, Z:-29.88 [[ 9.21685875e-01 3.56736942e-01 1.52426707e-01 1.76813787e+02] [-3.51847771e-01 9.34204671e-01 -5.88623703e-02 -5.03738224e+01] [-1.63396123e-01 6.21618315e-04 9.86560348e-01 -2.98821238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:176.84, Y:-50.39, Z:-29.89 [[ 9.21041013e-01 3.58558287e-01 1.52050671e-01 1.76838953e+02] [-3.53719347e-01 9.33507295e-01 -5.87090518e-02 -5.03852874e+01] [-1.62991028e-01 2.90180456e-04 9.86627509e-01 -2.98856629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:-50.40, Z:-29.89 [[ 9.19802231e-01 3.62035618e-01 1.51307855e-01 1.76865892e+02] [-3.57292609e-01 9.32164202e-01 -5.84114040e-02 -5.04004324e+01] [-1.62190775e-01 -3.34238657e-04 9.86759363e-01 -2.98924995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:-50.41, Z:-29.90 [[ 9.19178218e-01 3.63602585e-01 1.51342538e-01 1.76892385e+02] [-3.58877756e-01 9.31553966e-01 -5.84291371e-02 -5.04126006e+01] [-1.62228727e-01 -6.06680125e-04 9.86752995e-01 -2.98975244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:-50.42, Z:-29.90 [[ 9.18630283e-01 3.64932719e-01 1.51467862e-01 1.76918038e+02] [-3.60217484e-01 9.31033515e-01 -5.84804099e-02 -5.04244480e+01] [-1.62363071e-01 -8.39496767e-04 9.86730727e-01 -2.99022991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.94, Y:-50.44, Z:-29.91 [[ 9.18172363e-01 3.66251333e-01 1.51061155e-01 1.76941821e+02] [-3.61580577e-01 9.30515342e-01 -5.83153964e-02 -5.04386952e+01] [-1.61922814e-01 -1.07719409e-03 9.86802838e-01 -2.99073345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.97, Y:-50.45, Z:-29.91 [[ 9.18200116e-01 3.66232536e-01 1.50937991e-01 1.76968397e+02] [-3.61570896e-01 9.30522733e-01 -5.82574486e-02 -5.04511018e+01] [-1.61787005e-01 -1.08278847e-03 9.86825107e-01 -2.99127132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:-50.46, Z:-29.92 [[ 9.18343412e-01 3.66031144e-01 1.50554244e-01 1.76994659e+02] [-3.61391318e-01 9.30602011e-01 -5.81051860e-02 -5.04633806e+01] [-1.61374390e-01 -1.04848200e-03 9.86892703e-01 -2.99175480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:-50.48, Z:-29.92 [[ 9.18431527e-01 3.65679353e-01 1.50871275e-01 1.77020607e+02] [-3.61015822e-01 9.30740364e-01 -5.82232853e-02 -5.04771511e+01] [-1.61713039e-01 -9.92816715e-04 9.86837326e-01 -2.99223970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-50.49, Z:-29.93 [[ 9.18392270e-01 3.65678277e-01 1.51112658e-01 1.77048079e+02] [-3.61000056e-01 9.30740783e-01 -5.83142699e-02 -5.04898133e+01] [-1.61970976e-01 -9.96303419e-04 9.86795019e-01 -2.99276316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:-50.50, Z:-29.93 [[ 9.18394245e-01 3.65710774e-01 1.51021985e-01 1.77075307e+02] [-3.61038639e-01 9.30728009e-01 -5.82792791e-02 -5.05028699e+01] [-1.61873752e-01 -1.00141732e-03 9.86810968e-01 -2.99325900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:-50.52, Z:-29.94 [[ 9.18042220e-01 3.66564725e-01 1.51091978e-01 1.77102315e+02] [-3.61899747e-01 9.30391839e-01 -5.83060840e-02 -5.05185963e+01] [-1.61947696e-01 -1.15270167e-03 9.86798670e-01 -2.99372635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.13, Y:-50.53, Z:-29.94 [[ 9.17792275e-01 3.67014194e-01 1.51518719e-01 1.77129473e+02] [-3.62328040e-01 9.30214526e-01 -5.84750074e-02 -5.05309730e+01] [-1.62406071e-01 -1.23157057e-03 9.86723239e-01 -2.99424707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:-50.54, Z:-29.95 [[ 9.17501421e-01 3.67601967e-01 1.51854987e-01 1.77158723e+02] [-3.62902707e-01 9.29982260e-01 -5.86056382e-02 -5.05433963e+01] [-1.62765992e-01 -1.33782950e-03 9.86663794e-01 -2.99476877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.19, Y:-50.56, Z:-29.95 [[ 9.17086862e-01 3.68722704e-01 1.51641867e-01 1.77188113e+02] [-3.64047144e-01 9.29538216e-01 -5.85523825e-02 -5.05571904e+01] [-1.62546503e-01 -1.50716768e-03 9.86699733e-01 -2.99534289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.22, Y:-50.57, Z:-29.96 [[ 9.16937801e-01 3.69082640e-01 1.51667639e-01 1.77216706e+02] [-3.64404753e-01 9.29395306e-01 -5.85964212e-02 -5.05699584e+01] [-1.62586114e-01 -1.53913491e-03 9.86693157e-01 -2.99591771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.24, Y:-50.58, Z:-29.96 [[ 9.16936201e-01 3.69222707e-01 1.51336039e-01 1.77242760e+02] [-3.64563635e-01 9.29339670e-01 -5.84904582e-02 -5.05813784e+01] [-1.62238590e-01 -1.53959790e-03 9.86750358e-01 -2.99643210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:-50.60, Z:-29.97 [[ 9.17039388e-01 3.69247979e-01 1.50647572e-01 1.77272517e+02] [-3.64633453e-01 9.29329618e-01 -5.82143139e-02 -5.05959362e+01] [-1.61496768e-01 -1.54632540e-03 9.86872030e-01 -2.99694795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:-50.61, Z:-29.98 [[ 9.17181096e-01 3.68892224e-01 1.50656441e-01 1.77301434e+02] [-3.64266894e-01 9.29471042e-01 -5.82512811e-02 -5.06092855e+01] [-1.61519244e-01 -1.45217992e-03 9.86868494e-01 -2.99750899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.33, Y:-50.62, Z:-29.98 [[ 9.17575670e-01 3.68025624e-01 1.50372967e-01 1.77330869e+02] [-3.63401146e-01 9.29814784e-01 -5.81727958e-02 -5.06230664e+01] [-1.61228087e-01 -1.26776633e-03 9.86916358e-01 -2.99808693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:-50.64, Z:-29.99 [[ 9.18727199e-01 3.65324817e-01 1.49927023e-01 1.77359083e+02] [-3.60686759e-01 9.30879799e-01 -5.80332817e-02 -5.06383944e+01] [-1.60765035e-01 -7.59937707e-04 9.86992414e-01 -2.99864262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:-50.65, Z:-29.99 [[ 9.19324493e-01 3.63651857e-01 1.50332308e-01 1.77388435e+02] [-3.58961257e-01 9.31534827e-01 -5.82209763e-02 -5.06516362e+01] [-1.61211947e-01 -4.39504831e-04 9.86919711e-01 -2.99919657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.42, Y:-50.66, Z:-30.00 [[ 9.19861894e-01 3.62056272e-01 1.50895172e-01 1.77416964e+02] [-3.57303222e-01 9.32156231e-01 -5.84736504e-02 -5.06648650e+01] [-1.61828626e-01 -1.27648256e-04 9.86818869e-01 -2.99972616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:-50.68, Z:-30.00 [[ 9.20787752e-01 3.59328765e-01 1.51765458e-01 1.77446046e+02] [-3.54478155e-01 9.33210957e-01 -5.88434143e-02 -5.06812276e+01] [-1.62773320e-01 3.84755567e-04 9.86663417e-01 -3.00025681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.47, Y:-50.70, Z:-30.01 [[ 9.20952259e-01 3.58809376e-01 1.51995949e-01 1.77474614e+02] [-3.53931267e-01 9.33410720e-01 -5.89668227e-02 -5.06950576e+01] [-1.63032497e-01 5.09509705e-04 9.86620568e-01 -3.00079280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.50, Y:-50.71, Z:-30.01 [[ 9.20877283e-01 3.58793716e-01 1.52486389e-01 1.77503212e+02] [-3.53878371e-01 9.33416720e-01 -5.91888966e-02 -5.07083488e+01] [-1.63569949e-01 5.44075475e-04 9.86531589e-01 -3.00133254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:-50.72, Z:-30.02 [[ 9.20030488e-01 3.60714058e-01 1.53066225e-01 1.77531825e+02] [-3.55782098e-01 9.32676425e-01 -5.94456466e-02 -5.07241062e+01] [-1.64204140e-01 2.33584718e-04 9.86426351e-01 -3.00181937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.56, Y:-50.74, Z:-30.02 [[ 9.19360139e-01 3.62369763e-01 1.53183192e-01 1.77560668e+02] [-3.57447349e-01 9.32034417e-01 -5.95251090e-02 -5.07372404e+01] [-1.64342106e-01 -2.99133752e-05 9.86403402e-01 -3.00234387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.59, Y:-50.75, Z:-30.03 [[ 9.19330535e-01 3.62449469e-01 1.53172288e-01 1.77591391e+02] [-3.57523482e-01 9.32003424e-01 -5.95531527e-02 -5.07493210e+01] [-1.64342106e-01 -1.36581809e-05 9.86403402e-01 -3.00291370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:177.62, Y:-50.76, Z:-30.03 [[ 9.18509226e-01 3.64603210e-01 1.52987913e-01 1.77621240e+02] [-3.59716499e-01 9.31162902e-01 -5.94952905e-02 -5.07618325e+01] [-1.64148843e-01 -3.85303346e-04 9.86435507e-01 -3.00339633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:-50.77, Z:-30.04 [[ 9.16841675e-01 3.69127371e-01 1.52139170e-01 1.77649898e+02] [-3.64351106e-01 9.29378098e-01 -5.91998478e-02 -5.07747159e+01] [-1.63247097e-01 -1.15518709e-03 9.86584538e-01 -3.00402601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.68, Y:-50.79, Z:-30.05 [[ 9.15987088e-01 3.71275517e-01 1.52059678e-01 1.77678802e+02] [-3.66528214e-01 9.28521525e-01 -5.92017414e-02 -5.07875007e+01] [-1.63170841e-01 -1.50613147e-03 9.86596680e-01 -3.00463463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.71, Y:-50.80, Z:-30.05 [[ 9.15160804e-01 3.73350631e-01 1.51953967e-01 1.77708860e+02] [-3.68634928e-01 9.27688452e-01 -5.91812893e-02 -5.08006145e+01] [-1.63061312e-01 -1.85514341e-03 9.86614194e-01 -3.00516050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:-50.81, Z:-30.06 [[ 9.14121398e-01 3.76228259e-01 1.51110447e-01 1.77737070e+02] [-3.71598342e-01 9.26524099e-01 -5.88877433e-02 -5.08134181e+01] [-1.62162704e-01 -2.32184543e-03 9.86761302e-01 -3.00581059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:177.77, Y:-50.83, Z:-30.06 [[ 9.13662160e-01 3.77457102e-01 1.50823052e-01 1.77765721e+02] [-3.72858090e-01 9.26023655e-01 -5.87965598e-02 -5.08257156e+01] [-1.61858893e-01 -2.51540342e-03 9.86810707e-01 -3.00634119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:177.79, Y:-50.84, Z:-30.07 [[ 9.13388660e-01 3.78306299e-01 1.50351257e-01 1.77793813e+02] [-3.73742464e-01 9.25676746e-01 -5.86441114e-02 -5.08400281e+01] [-1.61362099e-01 -2.62778301e-03 9.86891771e-01 -3.00692342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.82, Y:-50.85, Z:-30.08 [[ 9.13335682e-01 3.78573356e-01 1.50000487e-01 1.77822443e+02] [-3.74029404e-01 9.25567528e-01 -5.85385016e-02 -5.08532113e+01] [-1.60996697e-01 -2.63929054e-03 9.86951416e-01 -3.00751466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.85, Y:-50.87, Z:-30.08 [[ 9.13383226e-01 3.78602194e-01 1.49637767e-01 1.77851274e+02] [-3.74075684e-01 9.25555818e-01 -5.84278183e-02 -5.08656489e+01] [-1.60619006e-01 -2.60886078e-03 9.87013034e-01 -3.00809598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:-50.88, Z:-30.09 [[ 9.13372532e-01 3.78656071e-01 1.49566698e-01 1.77880982e+02] [-3.74129662e-01 9.25533835e-01 -5.84304465e-02 -5.08787661e+01] [-1.60554083e-01 -2.58857318e-03 9.87023650e-01 -3.00866838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.91, Y:-50.89, Z:-30.09 [[ 9.13379348e-01 3.78897188e-01 1.48913018e-01 1.77909641e+02] [-3.74408387e-01 9.25435152e-01 -5.82077264e-02 -5.08923408e+01] [-1.59864086e-01 -2.58854780e-03 9.87135641e-01 -3.00918361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.94, Y:-50.90, Z:-30.10 [[ 9.13144973e-01 3.79464055e-01 1.48906984e-01 1.77939747e+02] [-3.74978192e-01 9.25202659e-01 -5.82356897e-02 -5.09049290e+01] [-1.59867488e-01 -2.65924416e-03 9.87134902e-01 -3.00974936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:-50.92, Z:-30.10 [[ 9.12955023e-01 3.79938988e-01 1.48860646e-01 1.77968940e+02] [-3.75456812e-01 9.25007578e-01 -5.82508607e-02 -5.09161648e+01] [-1.59828998e-01 -2.71032761e-03 9.87140996e-01 -3.01028216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:-50.93, Z:-30.11 [[ 9.12178607e-01 3.81828017e-01 1.48786944e-01 1.77999536e+02] [-3.77372091e-01 9.24228455e-01 -5.82414723e-02 -5.09270599e+01] [-1.59751353e-01 -3.02141482e-03 9.87152661e-01 -3.01081326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.03, Y:-50.94, Z:-30.11 [[ 9.11667885e-01 3.82989721e-01 1.48931330e-01 1.78029668e+02] [-3.78535216e-01 9.23747069e-01 -5.83304564e-02 -5.09389214e+01] [-1.59914845e-01 -3.19774947e-03 9.87125634e-01 -3.01134320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:-50.95, Z:-30.12 [[ 9.11177251e-01 3.84020572e-01 1.49278991e-01 1.78059616e+02] [-3.79553334e-01 9.23318442e-01 -5.85006089e-02 -5.09504729e+01] [-1.60297482e-01 -3.35491471e-03 9.87063048e-01 -3.01191709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:-50.96, Z:-30.12 [[ 9.10459564e-01 3.85648008e-01 1.49462357e-01 1.78089414e+02] [-3.81185865e-01 9.22638909e-01 -5.86070013e-02 -5.09609531e+01] [-1.60501459e-01 -3.61363284e-03 9.87028988e-01 -3.01248094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.12, Y:-50.97, Z:-30.13 [[ 9.10281844e-01 3.86121602e-01 1.49322044e-01 1.78120349e+02] [-3.81670917e-01 9.22440570e-01 -5.85722229e-02 -5.09720211e+01] [-1.60356712e-01 -3.67465033e-03 9.87052289e-01 -3.01301404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.15, Y:-50.98, Z:-30.14 [[ 9.10159637e-01 3.86368892e-01 1.49427288e-01 1.78151317e+02] [-3.81909883e-01 9.22336956e-01 -5.86462296e-02 -5.09833783e+01] [-1.60481389e-01 -3.69032704e-03 9.87031968e-01 -3.01358815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.18, Y:-50.99, Z:-30.14 [[ 9.10392589e-01 3.85612834e-01 1.49960247e-01 1.78182210e+02] [-3.81106236e-01 9.22653898e-01 -5.88882146e-02 -5.09947994e+01] [-1.61069458e-01 -3.53939113e-03 9.86936727e-01 -3.01408104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:-51.01, Z:-30.15 [[ 9.10650662e-01 3.84965958e-01 1.50055268e-01 1.78212665e+02] [-3.80439574e-01 9.22924522e-01 -5.89580952e-02 -5.10064134e+01] [-1.61186546e-01 -3.39673373e-03 9.86918112e-01 -3.01460518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:-51.02, Z:-30.15 [[ 9.10969162e-01 3.84201579e-01 1.50081088e-01 1.78242103e+02] [-3.79657815e-01 9.23243581e-01 -5.90019717e-02 -5.10177653e+01] [-1.61230052e-01 -3.23048112e-03 9.86911564e-01 -3.01510620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.27, Y:-51.03, Z:-30.16 [[ 9.11632450e-01 3.82483771e-01 1.50440820e-01 1.78273147e+02] [-3.77889697e-01 9.23957645e-01 -5.91747202e-02 -5.10281153e+01] [-1.61634316e-01 -2.90444064e-03 9.86846448e-01 -3.01563633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:-51.04, Z:-30.16 [[ 9.12096444e-01 3.81483542e-01 1.50167853e-01 1.78302268e+02] [-3.76887211e-01 9.24371716e-01 -5.91012747e-02 -5.10391760e+01] [-1.61357080e-01 -2.69028076e-03 9.86892423e-01 -3.01622609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:-51.05, Z:-30.17 [[ 9.12583537e-01 3.80374232e-01 1.50022436e-01 1.78332754e+02] [-3.75768684e-01 9.24829351e-01 -5.90640937e-02 -5.10509109e+01] [-1.61211612e-01 -2.47281397e-03 9.86916765e-01 -3.01679897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.36, Y:-51.06, Z:-30.17 [[ 9.12977312e-01 3.79345015e-01 1.50232444e-01 1.78362367e+02] [-3.74707145e-01 9.25252527e-01 -5.91803729e-02 -5.10625775e+01] [-1.61452728e-01 -2.26283243e-03 9.86877853e-01 -3.01732321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.39, Y:-51.07, Z:-30.18 [[ 9.13617730e-01 3.77609794e-01 1.50709941e-01 1.78392849e+02] [-3.72913614e-01 9.25962800e-01 -5.93997494e-02 -5.10731033e+01] [-1.61981726e-01 -1.93312437e-03 9.86791864e-01 -3.01783470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:-51.08, Z:-30.18 [[ 9.13855007e-01 3.77046628e-01 1.50681340e-01 1.78421847e+02] [-3.72339095e-01 9.26192526e-01 -5.94222384e-02 -5.10842562e+01] [-1.61964886e-01 -1.80124377e-03 9.86794878e-01 -3.01837559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.45, Y:-51.10, Z:-30.19 [[ 9.14364393e-01 3.75955841e-01 1.50316209e-01 1.78452078e+02] [-3.71253329e-01 9.26636224e-01 -5.92981752e-02 -5.10950610e+01] [-1.61581940e-01 -1.58525302e-03 9.86858026e-01 -3.01894339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.48, Y:-51.11, Z:-30.19 [[ 9.14463123e-01 3.75904277e-01 1.49843825e-01 1.78482782e+02] [-3.71225423e-01 9.26657219e-01 -5.91445926e-02 -5.11060391e+01] [-1.61086568e-01 -1.54028856e-03 9.86939079e-01 -3.01947063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46587156000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:178.51, Y:-51.12, Z:-30.20 [[ 9.14486052e-01 3.75978232e-01 1.49517989e-01 1.78513616e+02] [-3.71315515e-01 9.26627250e-01 -5.90485230e-02 -5.11167242e+01] [-1.60748403e-01 -1.51929851e-03 9.86994247e-01 -3.01997453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.54, Y:-51.13, Z:-30.21 [[ 9.14262296e-01 3.76540819e-01 1.49470621e-01 1.78543208e+02] [-3.71883129e-01 9.26398670e-01 -5.90630466e-02 -5.11277204e+01] [-1.60709032e-01 -1.58648551e-03 9.87000552e-01 -3.02062107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:178.57, Y:-51.14, Z:-30.21 [[ 9.14026024e-01 3.77227601e-01 1.49183659e-01 1.78574103e+02] [-3.72592009e-01 9.26119069e-01 -5.89802029e-02 -5.11396469e+01] [-1.60410792e-01 -1.67519872e-03 9.87048921e-01 -3.02106090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.55587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:178.61, Y:-51.15, Z:-30.22 [[ 9.13853188e-01 3.77673597e-01 1.49114070e-01 1.78605320e+02] [-3.73042922e-01 9.25937195e-01 -5.89854990e-02 -5.11505591e+01] [-1.60347529e-01 -1.72186194e-03 9.87059119e-01 -3.02159827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.64, Y:-51.16, Z:-30.22 [[ 9.13659907e-01 3.77997428e-01 1.49477487e-01 1.78635197e+02] [-3.73342903e-01 9.25804988e-01 -5.91625007e-02 -5.11597119e+01] [-1.60750276e-01 -1.75195390e-03 9.86993556e-01 -3.02227837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.67, Y:-51.17, Z:-30.23 [[ 9.13671180e-01 3.77856603e-01 1.49764357e-01 1.78666020e+02] [-3.73177177e-01 9.25862566e-01 -5.93068570e-02 -5.11716696e+01] [-1.61070700e-01 -1.70167399e-03 9.86941404e-01 -3.02280305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.70, Y:-51.18, Z:-30.23 [[ 9.13750984e-01 3.77464696e-01 1.50264910e-01 1.78696844e+02] [-3.72743118e-01 9.26022580e-01 -5.95377900e-02 -5.11834535e+01] [-1.61622114e-01 -1.60749699e-03 9.86851412e-01 -3.02332029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:-51.19, Z:-30.24 [[ 9.14575738e-01 3.75426563e-01 1.50353305e-01 1.78726597e+02] [-3.70666528e-01 9.26851345e-01 -5.96062810e-02 -5.11925427e+01] [-1.61732944e-01 -1.21647913e-03 9.86833813e-01 -3.02394045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:-51.20, Z:-30.24 [[ 9.15114445e-01 3.74120860e-01 1.50330089e-01 1.78756524e+02] [-3.69342293e-01 9.27379447e-01 -5.96123409e-02 -5.12044877e+01] [-1.61715255e-01 -9.71145389e-04 9.86836984e-01 -3.02445196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.78, Y:-51.22, Z:-30.25 [[ 9.15746759e-01 3.72418119e-01 1.50707058e-01 1.78784729e+02] [-3.67587809e-01 9.28064830e-01 -5.97902569e-02 -5.12161625e+01] [-1.62132895e-01 -6.45343073e-04 9.86768721e-01 -3.02497127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.81, Y:-51.23, Z:-30.25 [[ 9.17456553e-01 3.68521166e-01 1.49885371e-01 1.78812622e+02] [-3.63687549e-01 9.29619355e-01 -5.94913513e-02 -5.12256869e+01] [-1.61260164e-01 6.92867734e-05 9.86911929e-01 -3.02548832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:-51.24, Z:-30.26 [[ 9.18382214e-01 3.66473488e-01 1.49235693e-01 1.78840822e+02] [-3.61654756e-01 9.30428395e-01 -5.92354567e-02 -5.12366916e+01] [-1.60561351e-01 4.28991780e-04 9.87025769e-01 -3.02607640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:-51.25, Z:-30.27 [[ 9.19979119e-01 3.62603302e-01 1.48853169e-01 1.78868904e+02] [-3.57758692e-01 9.31942931e-01 -5.90854561e-02 -5.12503457e+01] [-1.60147240e-01 1.10387096e-03 9.87092520e-01 -3.02658414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:-51.26, Z:-30.27 [[ 9.20550686e-01 3.61050481e-01 1.49093876e-01 1.78896650e+02] [-3.56169251e-01 9.32545252e-01 -5.91846148e-02 -5.12620021e+01] [-1.60405420e-01 1.37978361e-03 9.87050251e-01 -3.02706635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:-51.27, Z:-30.28 [[ 9.21001410e-01 3.59584955e-01 1.49850138e-01 1.78925667e+02] [-3.54632910e-01 9.33110888e-01 -5.94942832e-02 -5.12733533e+01] [-1.61220044e-01 1.65252834e-03 9.86917102e-01 -3.02758286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:-51.29, Z:-30.28 [[ 9.21362871e-01 3.58417243e-01 1.50424534e-01 1.78954788e+02] [-3.53410979e-01 9.33559637e-01 -5.97250752e-02 -5.12852997e+01] [-1.61836770e-01 1.86678487e-03 9.86815776e-01 -3.02812621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:-51.30, Z:-30.29 [[ 9.21965419e-01 3.56546216e-01 1.51177253e-01 1.78984342e+02] [-3.51459883e-01 9.34275020e-01 -6.00511300e-02 -5.12994985e+01] [-1.62652134e-01 2.23232570e-03 9.86680952e-01 -3.02863871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:-51.31, Z:-30.29 [[ 9.22136791e-01 3.56151315e-01 1.51062834e-01 1.79012946e+02] [-3.51061954e-01 9.34425387e-01 -6.00391655e-02 -5.13119360e+01] [-1.62539975e-01 2.33190961e-03 9.86699204e-01 -3.02918325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00587156000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:179.04, Y:-51.33, Z:-30.30 [[ 9.22138533e-01 3.56389819e-01 1.50488612e-01 1.79042878e+02] [-3.51337454e-01 9.34334501e-01 -5.98417337e-02 -5.13252115e+01] [-1.61933687e-01 2.31008261e-03 9.86798938e-01 -3.02972826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:-51.34, Z:-30.30 [[ 9.22111588e-01 3.56924272e-01 1.49383008e-01 1.79072443e+02] [-3.51948110e-01 9.34130661e-01 -5.94343075e-02 -5.13390066e+01] [-1.60756795e-01 2.22999639e-03 9.86991530e-01 -3.03038822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:-51.35, Z:-30.31 [[ 9.21647477e-01 3.58332701e-01 1.48874459e-01 1.79101103e+02] [-3.53403523e-01 9.33591796e-01 -5.92647295e-02 -5.13519958e+01] [-1.60224464e-01 2.00843022e-03 9.87078562e-01 -3.03091894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:-51.37, Z:-30.31 [[ 9.20599811e-01 3.61190850e-01 1.48449175e-01 1.79130445e+02] [-3.56321964e-01 9.32490650e-01 -5.91256728e-02 -5.13655169e+01] [-1.59783119e-01 1.53538172e-03 9.87150950e-01 -3.03146708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.16, Y:-51.38, Z:-30.32 [[ 9.19898909e-01 3.62968164e-01 1.48459116e-01 1.79160981e+02] [-3.58116275e-01 9.31800692e-01 -5.91625223e-02 -5.13782955e+01] [-1.59808420e-01 1.25791387e-03 9.87147247e-01 -3.03197152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.19, Y:-51.39, Z:-30.33 [[ 9.19147954e-01 3.64696569e-01 1.48873946e-01 1.79191214e+02] [-3.59834461e-01 9.31125893e-01 -5.93610220e-02 -5.13908378e+01] [-1.60269147e-01 9.91585822e-04 9.87072853e-01 -3.03254783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:-51.40, Z:-30.33 [[ 9.18395223e-01 3.66594923e-01 1.48856898e-01 1.79220316e+02] [-3.61753230e-01 9.30380397e-01 -5.93878534e-02 -5.14033846e+01] [-1.60264826e-01 6.92057141e-04 9.87073810e-01 -3.03311000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:-51.42, Z:-30.34 [[ 9.17082672e-01 3.69910493e-01 1.48746762e-01 1.79250362e+02] [-3.65114226e-01 9.29067385e-01 -5.93750386e-02 -5.14166892e+01] [-1.60159215e-01 1.42260206e-04 9.87091184e-01 -3.03368485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:-51.43, Z:-30.34 [[ 9.16372832e-01 3.71587921e-01 1.48940426e-01 1.79279054e+02] [-3.66795825e-01 9.28397761e-01 -5.94846176e-02 -5.14288842e+01] [-1.60379723e-01 -1.20638916e-04 9.87055383e-01 -3.03422953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.31, Y:-51.44, Z:-30.35 [[ 9.15097088e-01 3.74397474e-01 1.49745954e-01 1.79307131e+02] [-3.69585213e-01 9.27268131e-01 -5.98379717e-02 -5.14413491e+01] [-1.61257837e-01 -5.86336671e-04 9.86912137e-01 -3.03475281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.34, Y:-51.45, Z:-30.35 [[ 9.14430899e-01 3.75898165e-01 1.50055656e-01 1.79337206e+02] [-3.71085503e-01 9.26660589e-01 -5.99641834e-02 -5.14542102e+01] [-1.61591089e-01 -8.50376567e-04 9.86857435e-01 -3.03519903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:-51.47, Z:-30.36 [[ 9.13838851e-01 3.77337537e-01 1.50049783e-01 1.79366583e+02] [-3.72539007e-01 9.26075176e-01 -5.99954763e-02 -5.14662610e+01] [-1.61595924e-01 -1.07319995e-03 9.86856426e-01 -3.03578317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:-51.48, Z:-30.36 [[ 9.13363266e-01 3.78465298e-01 1.50105172e-01 1.79396740e+02] [-3.73673210e-01 9.25614645e-01 -6.00488249e-02 -5.14783285e+01] [-1.61665941e-01 -1.24389041e-03 9.86844758e-01 -3.03636196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:-51.49, Z:-30.37 [[ 9.12287834e-01 3.81044404e-01 1.50120188e-01 1.79426181e+02] [-3.76280416e-01 9.24555232e-01 -6.00888635e-02 -5.14906383e+01] [-1.61690930e-01 -1.66894759e-03 9.86840037e-01 -3.03683569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:-51.50, Z:-30.37 [[ 9.12238485e-01 3.81165332e-01 1.50113076e-01 1.79456770e+02] [-3.76400048e-01 9.24505380e-01 -6.01066243e-02 -5.15030523e+01] [-1.61690908e-01 -1.67099327e-03 9.86840037e-01 -3.03740544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:-51.51, Z:-30.38 [[ 9.11670011e-01 3.82376459e-01 1.50485994e-01 1.79486775e+02] [-3.77600009e-01 9.24004734e-01 -6.02783959e-02 -5.15148658e+01] [-1.62098811e-01 -1.86950696e-03 9.86772760e-01 -3.03795526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.52, Y:-51.53, Z:-30.38 [[ 9.11129778e-01 3.83669657e-01 1.50466345e-01 1.79515987e+02] [-3.78906379e-01 9.23468094e-01 -6.03045295e-02 -5.15267138e+01] [-1.62087887e-01 -2.06740523e-03 9.86774160e-01 -3.03848129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:179.55, Y:-51.54, Z:-30.39 [[ 9.10529483e-01 3.85275244e-01 1.49996822e-01 1.79546914e+02] [-3.80560178e-01 9.22798771e-01 -6.01363360e-02 -5.15381571e+01] [-1.61585925e-01 -2.32691032e-03 9.86855904e-01 -3.03903837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:-51.55, Z:-30.40 [[ 9.10690660e-01 3.85025868e-01 1.49658287e-01 1.79577384e+02] [-3.80323496e-01 9.22903046e-01 -6.00333700e-02 -5.15494921e+01] [-1.61234490e-01 -2.24673367e-03 9.86913568e-01 -3.03969434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:-51.56, Z:-30.40 [[ 9.10822005e-01 3.84747221e-01 1.49575569e-01 1.79606488e+02] [-3.80040784e-01 9.23019443e-01 -6.00342496e-02 -5.15608369e+01] [-1.61159169e-01 -2.16430087e-03 9.86926055e-01 -3.04024654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:-51.57, Z:-30.41 [[ 9.11462748e-01 3.83288636e-01 1.49417137e-01 1.79636223e+02] [-3.78567567e-01 9.23626714e-01 -6.00024129e-02 -5.15720355e+01] [-1.61003902e-01 -1.87451777e-03 9.86951990e-01 -3.04080045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:-51.58, Z:-30.41 [[ 9.11755235e-01 3.82638745e-01 1.49298300e-01 1.79666953e+02] [-3.77911581e-01 9.23896423e-01 -5.99853089e-02 -5.15840299e+01] [-1.60888868e-01 -1.72963705e-03 9.86971013e-01 -3.04138097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:-51.60, Z:-30.42 [[ 9.12024366e-01 3.81981306e-01 1.49337996e-01 1.79697131e+02] [-3.77237452e-01 9.24168695e-01 -6.00343954e-02 -5.15960299e+01] [-1.60945518e-01 -1.58305382e-03 9.86962023e-01 -3.04190245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.73, Y:-51.61, Z:-30.42 [[ 9.12237211e-01 3.81192435e-01 1.50051989e-01 1.79726614e+02] [-3.76386664e-01 9.24494626e-01 -6.03553243e-02 -5.16075592e+01] [-1.61729251e-01 -1.41919499e-03 9.86834148e-01 -3.04245523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.76, Y:-51.62, Z:-30.43 [[ 9.12232376e-01 3.81086299e-01 1.50350672e-01 1.79756480e+02] [-3.76254558e-01 9.24538451e-01 -6.05075229e-02 -5.16192109e+01] [-1.62063565e-01 -1.37320412e-03 9.86779365e-01 -3.04297741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.78, Y:-51.63, Z:-30.43 [[ 9.12359890e-01 3.80559102e-01 1.50911232e-01 1.79782499e+02] [-3.75680210e-01 9.24755737e-01 -6.07553039e-02 -5.16289572e+01] [-1.62677012e-01 -1.26366112e-03 9.86678566e-01 -3.04344878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:-51.64, Z:-30.44 [[ 9.12236884e-01 3.80708323e-01 1.51278022e-01 1.79812593e+02] [-3.75808830e-01 9.24694264e-01 -6.08953351e-02 -5.16411571e+01] [-1.63069280e-01 -1.30064564e-03 9.86613764e-01 -3.04394709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.84, Y:-51.65, Z:-30.44 [[ 9.12307806e-01 3.80573202e-01 1.51190296e-01 1.79842199e+02] [-3.75671988e-01 9.24749961e-01 -6.08938981e-02 -5.16523602e+01] [-1.62987807e-01 -1.24398074e-03 9.86627299e-01 -3.04446654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84587156000003 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.87, Y:-51.66, Z:-30.45 [[ 9.12355503e-01 3.80608365e-01 1.50813488e-01 1.79872206e+02] [-3.75728875e-01 9.24735510e-01 -6.07622271e-02 -5.16640756e+01] [-1.62589200e-01 -1.22822998e-03 9.86693085e-01 -3.04505009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:179.90, Y:-51.68, Z:-30.46 [[ 9.12679934e-01 3.80109227e-01 1.50107673e-01 1.79902303e+02] [-3.75263559e-01 9.24940948e-01 -6.05103556e-02 -5.16755856e+01] [-1.61841278e-01 -1.10335213e-03 9.86816185e-01 -3.04567969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:-51.69, Z:-30.46 [[ 9.12874415e-01 3.79774348e-01 1.49772319e-01 1.79931252e+02] [-3.74940484e-01 9.25078604e-01 -6.04086879e-02 -5.16864035e+01] [-1.61492837e-01 -1.01015996e-03 9.86873367e-01 -3.04633746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:-51.70, Z:-30.47 [[ 9.13109939e-01 3.79374316e-01 1.49349815e-01 1.79961826e+02] [-3.74557476e-01 9.25242835e-01 -6.02693348e-02 -5.16984151e+01] [-1.61049484e-01 -9.07561057e-04 9.86945915e-01 -3.04691305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:-51.71, Z:-30.47 [[ 9.13494531e-01 3.78678564e-01 1.48762521e-01 1.79990968e+02] [-3.73885265e-01 9.25527948e-01 -6.00651913e-02 -5.17099735e+01] [-1.60429271e-01 -7.50890910e-04 9.87047053e-01 -3.04745472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:-51.72, Z:-30.48 [[ 9.13610284e-01 3.78473442e-01 1.48573562e-01 1.80021084e+02] [-3.73684740e-01 9.25611897e-01 -6.00194174e-02 -5.17219260e+01] [-1.60237212e-01 -6.85316058e-04 9.87078298e-01 -3.04802602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.05, Y:-51.73, Z:-30.49 [[ 9.13636938e-01 3.78494630e-01 1.48355522e-01 1.80051506e+02] [-3.73715067e-01 9.25603253e-01 -5.99638732e-02 -5.17346896e+01] [-1.60014358e-01 -6.57484453e-04 9.87114468e-01 -3.04853538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:-51.75, Z:-30.49 [[ 9.13707727e-01 3.78227240e-01 1.48601293e-01 1.80080401e+02] [-3.73422756e-01 9.25712600e-01 -6.00968156e-02 -5.17463152e+01] [-1.60292342e-01 -5.80179623e-04 9.87069414e-01 -3.04912089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:-51.76, Z:-30.50 [[ 9.13575032e-01 3.78403214e-01 1.48968684e-01 1.80109683e+02] [-3.73571926e-01 9.25640680e-01 -6.02772598e-02 -5.17583665e+01] [-1.60700583e-01 -5.82718543e-04 9.87003031e-01 -3.04959585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.14, Y:-51.77, Z:-30.50 [[ 9.13402032e-01 3.78669453e-01 1.49352512e-01 1.80139406e+02] [-3.73813346e-01 9.25531777e-01 -6.04525616e-02 -5.17705033e+01] [-1.61122034e-01 -6.12469505e-04 9.86934301e-01 -3.05012740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:180.17, Y:-51.78, Z:-30.51 [[ 9.13028752e-01 3.79334972e-01 1.49944913e-01 1.80169021e+02] [-3.74443219e-01 9.25259147e-01 -6.07271469e-02 -5.17825898e+01] [-1.61773833e-01 -7.00224832e-04 9.86827612e-01 -3.05055788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:-51.79, Z:-30.51 [[ 9.12899832e-01 3.79561511e-01 1.50156441e-01 1.80199062e+02] [-3.74653600e-01 9.25166230e-01 -6.08451036e-02 -5.17937175e+01] [-1.62014128e-01 -7.11166219e-04 9.86788182e-01 -3.05119603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.23, Y:-51.81, Z:-30.52 [[ 9.12471746e-01 3.80494319e-01 1.50397426e-01 1.80227966e+02] [-3.75577471e-01 9.24782870e-01 -6.09770953e-02 -5.18054394e+01] [-1.62286402e-01 -8.46008307e-04 9.86743334e-01 -3.05173417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23587156000002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:180.26, Y:-51.82, Z:-30.52 [[ 9.12018659e-01 3.81740834e-01 1.49986336e-01 1.80257205e+02] [-3.76862447e-01 9.24268828e-01 -6.08426692e-02 -5.18173360e+01] [-1.61853826e-01 -1.03456784e-03 9.86814202e-01 -3.05224006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:180.29, Y:-51.83, Z:-30.53 [[ 9.11879188e-01 3.82110037e-01 1.49894183e-01 1.80286903e+02] [-3.77239294e-01 9.24116201e-01 -6.08256751e-02 -5.18296416e+01] [-1.61761743e-01 -1.08030838e-03 9.86829251e-01 -3.05282655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.32, Y:-51.84, Z:-30.53 [[ 9.12061136e-01 3.81795398e-01 1.49588628e-01 1.80316661e+02] [-3.76934987e-01 9.24246337e-01 -6.07348653e-02 -5.18415654e+01] [-1.61445033e-01 -9.91277152e-04 9.86881208e-01 -3.05346203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.35, Y:-51.85, Z:-30.54 [[ 9.12462441e-01 3.80950595e-01 1.49294802e-01 1.80345609e+02] [-3.76092701e-01 9.24595041e-01 -6.06489116e-02 -5.18547827e+01] [-1.61141473e-01 -8.08831378e-04 9.86930986e-01 -3.05397506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:180.38, Y:-51.87, Z:-30.55 [[ 9.12841095e-01 3.80010525e-01 1.49375823e-01 1.80375934e+02] [-3.75129739e-01 9.24981959e-01 -6.07128923e-02 -5.18672302e+01] [-1.61241480e-01 -6.14090477e-04 9.86914793e-01 -3.05451653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:-51.88, Z:-30.55 [[ 9.13162961e-01 3.79131791e-01 1.49641208e-01 1.80405530e+02] [-3.74216389e-01 9.25342586e-01 -6.08538693e-02 -5.18792483e+01] [-1.61541019e-01 -4.28692923e-04 9.86865906e-01 -3.05514040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:-51.89, Z:-30.56 [[ 9.13462875e-01 3.78157810e-01 1.50273908e-01 1.80434814e+02] [-3.73181567e-01 9.25741120e-01 -6.11465233e-02 -5.18916353e+01] [-1.62237771e-01 -2.24373517e-04 9.86751668e-01 -3.05563772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:-51.90, Z:-30.56 [[ 9.13465710e-01 3.78220573e-01 1.50098617e-01 1.80461370e+02] [-3.73253128e-01 9.25715481e-01 -6.10978729e-02 -5.19028449e+01] [-1.62057086e-01 -2.13966352e-04 9.86781361e-01 -3.05610139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:-51.91, Z:-30.57 [[ 9.13326797e-01 3.78524980e-01 1.50176567e-01 1.80488874e+02] [-3.73556744e-01 9.25591036e-01 -6.11276715e-02 -5.19138812e+01] [-1.62140435e-01 -2.69929020e-04 9.86767656e-01 -3.05660469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:-51.93, Z:-30.57 [[ 9.12439250e-01 3.80544957e-01 1.50466441e-01 1.80519741e+02] [-3.75585607e-01 9.24762203e-01 -6.12398584e-02 -5.19250545e+01] [-1.62450197e-01 -6.35378979e-04 9.86716540e-01 -3.05718702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.55, Y:-51.94, Z:-30.58 [[ 9.11856626e-01 3.81958411e-01 1.50416977e-01 1.80549166e+02] [-3.77015801e-01 9.24179118e-01 -6.12539268e-02 -5.19365446e+01] [-1.62408681e-01 -8.54778002e-04 9.86723208e-01 -3.05777923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.58, Y:-51.95, Z:-30.58 [[ 9.11382243e-01 3.83166329e-01 1.50219747e-01 1.80576855e+02] [-3.78247555e-01 9.23678780e-01 -6.12070143e-02 -5.19469197e+01] [-1.62207260e-01 -1.03726625e-03 9.86756165e-01 -3.05831714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.61, Y:-51.96, Z:-30.59 [[ 9.10930359e-01 3.84408583e-01 1.49786255e-01 1.80607465e+02] [-3.79535997e-01 9.23162203e-01 -6.10243744e-02 -5.19587831e+01] [-1.61735303e-01 -1.26032041e-03 9.86833372e-01 -3.05887500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.64, Y:-51.97, Z:-30.60 [[ 9.10323514e-01 3.85932175e-01 1.49557537e-01 1.80636836e+02] [-3.81089316e-01 9.22525944e-01 -6.09656940e-02 -5.19687039e+01] [-1.61499331e-01 -1.49627480e-03 9.86871687e-01 -3.05950647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:-51.98, Z:-30.60 [[ 9.10130604e-01 3.86392298e-01 1.49543560e-01 1.80666691e+02] [-3.81551243e-01 9.22333235e-01 -6.09922265e-02 -5.19800516e+01] [-1.61495922e-01 -1.54763913e-03 9.86872166e-01 -3.06003078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.70, Y:-51.99, Z:-30.61 [[ 9.09989449e-01 3.86563382e-01 1.49959844e-01 1.80695603e+02] [-3.81692203e-01 9.22261536e-01 -6.11941267e-02 -5.19911252e+01] [-1.61957605e-01 -1.55249360e-03 9.86796496e-01 -3.06060027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:-52.00, Z:-30.61 [[ 9.09902475e-01 3.86259984e-01 1.51263716e-01 1.80722798e+02] [-3.81294169e-01 9.22388758e-01 -6.17554530e-02 -5.19996157e+01] [-1.63377611e-01 -1.48453332e-03 9.86562493e-01 -3.06104990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.75, Y:-52.01, Z:-30.62 [[ 9.09972819e-01 3.86014712e-01 1.51466533e-01 1.80750622e+02] [-3.81033489e-01 9.22491485e-01 -6.18299349e-02 -5.20100558e+01] [-1.63593851e-01 -1.45026128e-03 9.86526710e-01 -3.06157653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.78, Y:-52.02, Z:-30.62 [[ 9.09980854e-01 3.86533537e-01 1.50088877e-01 1.80777023e+02] [-3.81387648e-01 9.22275351e-01 -6.28620581e-02 -5.20181958e+01] [-1.62721566e-01 -3.87745507e-05 9.86672028e-01 -3.06207303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.80, Y:-52.03, Z:-30.63 [[ 9.10260149e-01 3.85389472e-01 1.51332139e-01 1.80804442e+02] [-3.80750636e-01 9.22748203e-01 -5.97051725e-02 -5.20294770e+01] [-1.62651204e-01 -3.27256881e-03 9.86678203e-01 -3.06262810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.83, Y:-52.04, Z:-30.63 [[ 9.10256613e-01 3.85866012e-01 1.50134338e-01 1.80831475e+02] [-3.80968536e-01 9.22553772e-01 -6.12985425e-02 -5.20369785e+01] [-1.62160024e-01 -1.39905548e-03 9.86763482e-01 -3.06315465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.86, Y:-52.04, Z:-30.64 [[ 9.10101639e-01 3.86518822e-01 1.49392793e-01 1.80860908e+02] [-3.81679991e-01 9.22280274e-01 -6.09875430e-02 -5.20429332e+01] [-1.61354860e-01 -1.51537721e-03 9.86895290e-01 -3.06375353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:-52.05, Z:-30.64 [[ 9.09891513e-01 3.86978345e-01 1.49483091e-01 1.80891907e+02] [-3.82140800e-01 9.22087409e-01 -6.10181943e-02 -5.20527681e+01] [-1.61449196e-01 -1.60365085e-03 9.86879722e-01 -3.06435409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:-52.06, Z:-30.65 [[ 9.09777038e-01 3.87232497e-01 1.49521687e-01 1.80921002e+02] [-3.82389915e-01 9.21980685e-01 -6.10701924e-02 -5.20617669e+01] [-1.61504471e-01 -1.61532666e-03 9.86870658e-01 -3.06485914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:-52.07, Z:-30.65 [[ 9.09767642e-01 3.87145795e-01 1.49803106e-01 1.80948708e+02] [-3.82283244e-01 9.22017121e-01 -6.11878223e-02 -5.20701396e+01] [-1.61809637e-01 -1.60051650e-03 9.86820693e-01 -3.06536574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:180.98, Y:-52.08, Z:-30.66 [[ 9.09977251e-01 3.86301623e-01 1.50706534e-01 1.80976470e+02] [-3.81369754e-01 9.22371348e-01 -6.15484171e-02 -5.20768719e+01] [-1.62783642e-01 -1.46725437e-03 9.86660698e-01 -3.06570690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01587156000002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:181.00, Y:-52.08, Z:-30.66 [[ 9.10253550e-01 3.85524723e-01 1.51027029e-01 1.81002387e+02] [-3.80562463e-01 9.22696535e-01 -6.16710327e-02 -5.20849008e+01] [-1.63127824e-01 -1.33894177e-03 9.86604034e-01 -3.06620158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:-52.09, Z:-30.67 [[ 9.10723961e-01 3.84726434e-01 1.50224622e-01 1.81029559e+02] [-3.79448012e-01 9.23030259e-01 -6.35165096e-02 -5.20912779e+01] [-1.63098352e-01 8.43572956e-04 9.86609455e-01 -3.06672231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:-52.10, Z:-30.67 [[ 9.12323529e-01 3.80183028e-01 1.52074468e-01 1.81056805e+02] [-3.75115929e-01 9.24911078e-01 -6.18671025e-02 -5.20970250e+01] [-1.64176182e-01 -6.02741880e-04 9.86430848e-01 -3.06716526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.08, Y:-52.11, Z:-30.68 [[ 9.13203995e-01 3.77406493e-01 1.53697114e-01 1.81083562e+02] [-3.72520167e-01 9.26045652e-01 -6.05654634e-02 -5.21063489e+01] [-1.65188343e-01 -1.94665133e-03 9.86260119e-01 -3.06770738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.11, Y:-52.11, Z:-30.68 [[ 9.14248135e-01 3.75005919e-01 1.53365279e-01 1.81111715e+02] [-3.69747680e-01 9.27022277e-01 -6.25807500e-02 -5.21143106e+01] [-1.65641182e-01 5.07878032e-04 9.86185957e-01 -3.06822439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.14, Y:-52.12, Z:-30.69 [[ 9.16456539e-01 3.69657704e-01 1.53168513e-01 1.81139303e+02] [-3.64339435e-01 9.29166843e-01 -6.24960315e-02 -5.21228403e+01] [-1.65421244e-01 1.46956715e-03 9.86221908e-01 -3.06874617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.17, Y:-52.13, Z:-30.69 [[ 9.17364425e-01 3.67450013e-01 1.53045741e-01 1.81166199e+02] [-3.62110132e-01 9.30041403e-01 -6.24438988e-02 -5.21325379e+01] [-1.65283887e-01 1.86439790e-03 9.86244270e-01 -3.06926211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.19, Y:-52.14, Z:-30.70 [[ 9.18734251e-01 3.63811076e-01 1.53521584e-01 1.81193160e+02] [-3.58388235e-01 9.31469346e-01 -6.26317032e-02 -5.21408736e+01] [-1.65786757e-01 2.52156139e-03 9.86158402e-01 -3.06975385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:-52.15, Z:-30.70 [[ 9.19307746e-01 3.62282015e-01 1.53704296e-01 1.81219819e+02] [-3.56826352e-01 9.32064344e-01 -6.26977882e-02 -5.21502332e+01] [-1.65976574e-01 2.79281931e-03 9.86125741e-01 -3.07021308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.25, Y:-52.16, Z:-30.71 [[ 9.19824250e-01 3.60754739e-01 1.54205601e-01 1.81247927e+02] [-3.55243294e-01 9.32655665e-01 -6.28936618e-02 -5.21601717e+01] [-1.66509914e-01 3.07060960e-03 9.86034999e-01 -3.07069558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.28, Y:-52.17, Z:-30.71 [[ 9.20415785e-01 3.59115902e-01 1.54500978e-01 1.81277228e+02] [-3.53560238e-01 9.33286873e-01 -6.30140540e-02 -5.21716912e+01] [-1.66823083e-01 3.37372738e-03 9.85981073e-01 -3.07116322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:181.31, Y:-52.18, Z:-30.72 [[ 9.20403144e-01 3.59148938e-01 1.54499490e-01 1.81306259e+02] [-3.53593124e-01 9.33274167e-01 -6.30177022e-02 -5.21835832e+01] [-1.66823124e-01 3.37173385e-03 9.85981073e-01 -3.07170420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:181.33, Y:-52.19, Z:-30.72 [[ 9.21696875e-01 3.55745243e-01 1.54661542e-01 1.81334234e+02] [-3.50129020e-01 9.34574414e-01 -6.30898852e-02 -5.21948168e+01] [-1.66986647e-01 3.99825576e-03 9.85951050e-01 -3.07230780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:-52.21, Z:-30.73 [[ 9.22514539e-01 3.53781607e-01 1.54290310e-01 1.81364043e+02] [-3.48160593e-01 9.35317852e-01 -6.29660037e-02 -5.22078323e+01] [-1.66586695e-01 4.36924825e-03 9.86017131e-01 -3.07289923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.39, Y:-52.22, Z:-30.73 [[ 9.23301493e-01 3.51830031e-01 1.54045394e-01 1.81393087e+02] [-3.46194300e-01 9.36051871e-01 -6.28999288e-02 -5.22208638e+01] [-1.66324563e-01 4.74596071e-03 9.86059641e-01 -3.07346858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:-52.24, Z:-30.74 [[ 9.24723588e-01 3.48414352e-01 1.53276626e-01 1.81422581e+02] [-3.42783306e-01 9.37325278e-01 -6.26173179e-02 -5.22351076e+01] [-1.65486828e-01 5.36304241e-03 9.86197418e-01 -3.07408752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:-52.25, Z:-30.75 [[ 9.25213607e-01 3.47320176e-01 1.52802082e-01 1.81451912e+02] [-3.41703841e-01 9.37730046e-01 -6.24567480e-02 -5.22480479e+01] [-1.64979592e-01 5.57277474e-03 9.86281237e-01 -3.07464318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.48, Y:-52.26, Z:-30.75 [[ 9.25478582e-01 3.46755368e-01 1.52479867e-01 1.81480716e+02] [-3.41149500e-01 9.37938320e-01 -6.23596576e-02 -5.22609580e+01] [-1.64640257e-01 5.69409700e-03 9.86337246e-01 -3.07521767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:-52.27, Z:-30.76 [[ 9.25538309e-01 3.46686622e-01 1.52273518e-01 1.81510751e+02] [-3.41089735e-01 9.37963520e-01 -6.23075332e-02 -5.22747380e+01] [-1.64428193e-01 5.72907517e-03 9.86372418e-01 -3.07578815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.54, Y:-52.29, Z:-30.76 [[ 9.24834688e-01 3.48399746e-01 1.52638190e-01 1.81539802e+02] [-3.42793328e-01 9.37330090e-01 -6.24902886e-02 -5.22908454e+01] [-1.64843969e-01 5.46983338e-03 9.86304490e-01 -3.07619402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.57, Y:-52.30, Z:-30.77 [[ 9.24033043e-01 3.50210838e-01 1.53347010e-01 1.81568475e+02] [-3.44570801e-01 9.36656441e-01 -6.28146010e-02 -5.23041886e+01] [-1.65631818e-01 5.20386488e-03 9.86173930e-01 -3.07681518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.60, Y:-52.32, Z:-30.77 [[ 9.23024862e-01 3.52651123e-01 1.53825518e-01 1.81598479e+02] [-3.47003793e-01 9.35742504e-01 -6.30423144e-02 -5.23186252e+01] [-1.66173019e-01 4.81158523e-03 9.86084873e-01 -3.07723088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.63, Y:-52.33, Z:-30.78 [[ 9.20576817e-01 3.58807093e-01 1.54258856e-01 1.81626528e+02] [-3.53207436e-01 9.33404225e-01 -6.32539347e-02 -5.23319430e+01] [-1.66681828e-01 3.74473083e-03 9.86003623e-01 -3.07781168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:-52.34, Z:-30.78 [[ 9.19258202e-01 3.62252783e-01 1.54069073e-01 1.81656288e+02] [-3.56710387e-01 9.32074594e-01 -6.32032537e-02 -5.23449773e+01] [-1.66499423e-01 3.14207088e-03 9.86036546e-01 -3.07839685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.69, Y:-52.36, Z:-30.79 [[ 9.17879112e-01 3.65814066e-01 1.53876588e-01 1.81685822e+02] [-3.60329344e-01 9.30684526e-01 -6.31591370e-02 -5.23583436e+01] [-1.66315060e-01 2.52620245e-03 9.86069429e-01 -3.07886511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.71, Y:-52.37, Z:-30.80 [[ 9.14951740e-01 3.73225448e-01 1.53512470e-01 1.81713855e+02] [-3.67864185e-01 9.27739887e-01 -6.30447709e-02 -5.23704427e+01] [-1.65949555e-01 1.21118295e-03 9.86133499e-01 -3.07952015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.74, Y:-52.38, Z:-30.80 [[ 9.13674175e-01 3.76490396e-01 1.53148571e-01 1.81739330e+02] [-3.71194884e-01 9.26420295e-01 -6.29268968e-02 -5.23802706e+01] [-1.65571317e-01 6.46714335e-04 9.86197607e-01 -3.07998734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.77, Y:-52.39, Z:-30.81 [[ 9.12463403e-01 3.79502389e-01 1.52932908e-01 1.81766737e+02] [-3.74265627e-01 9.25190753e-01 -6.28276334e-02 -5.23909635e+01] [-1.65335350e-01 9.03853040e-05 9.86237402e-01 -3.08052457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.79, Y:-52.40, Z:-30.81 [[ 9.10282999e-01 3.84922403e-01 1.52379804e-01 1.81793213e+02] [-3.79799631e-01 9.22948506e-01 -6.25962884e-02 -5.23999054e+01] [-1.64733426e-01 -8.93456202e-04 9.86337721e-01 -3.08099640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.82, Y:-52.41, Z:-30.81 [[ 9.09262340e-01 3.87283334e-01 1.52491366e-01 1.81819682e+02] [-3.82187764e-01 9.21959785e-01 -6.26312103e-02 -5.24092452e+01] [-1.64846931e-01 -1.33213320e-03 9.86318262e-01 -3.08148997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:-52.42, Z:-30.82 [[ 9.08411508e-01 3.89834947e-01 1.51053782e-01 1.81844968e+02] [-3.84515357e-01 9.20884719e-01 -6.41815809e-02 -5.24163571e+01] [-1.64123343e-01 2.20787779e-04 9.86439800e-01 -3.08195449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.87, Y:-52.43, Z:-30.83 [[ 9.07119371e-01 3.92292560e-01 1.52449972e-01 1.81871457e+02] [-3.87642025e-01 9.19830339e-01 -6.03805220e-02 -5.24261203e+01] [-1.63914939e-01 -4.32367466e-03 9.86465001e-01 -3.08256471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.90, Y:-52.43, Z:-30.83 [[ 9.06772771e-01 3.93598938e-01 1.51139071e-01 1.81896903e+02] [-3.88685668e-01 9.19278906e-01 -6.20463068e-02 -5.24335632e+01] [-1.63360320e-01 -2.48368916e-03 9.86563347e-01 -3.08306495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.92, Y:-52.44, Z:-30.84 [[ 9.06706405e-01 3.93938985e-01 1.50650494e-01 1.81921983e+02] [-3.89064655e-01 9.19133056e-01 -6.18313785e-02 -5.24415694e+01] [-1.62825640e-01 -2.54987579e-03 9.86651564e-01 -3.08360035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.95, Y:-52.45, Z:-30.84 [[ 9.06721711e-01 3.94059619e-01 1.50242324e-01 1.81948206e+02] [-3.89217096e-01 9.19081245e-01 -6.16418470e-02 -5.24499788e+01] [-1.62375465e-01 -2.58487995e-03 9.86725659e-01 -3.08405372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.97, Y:-52.46, Z:-30.85 [[ 9.07404371e-01 3.92270891e-01 1.50800713e-01 1.81974613e+02] [-3.87369624e-01 9.19846904e-01 -6.18582929e-02 -5.24569029e+01] [-1.62978777e-01 -2.28513010e-03 9.86626929e-01 -3.08456171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09587156000003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:182.00, Y:-52.47, Z:-30.85 [[ 9.08193774e-01 3.90343893e-01 1.51048713e-01 1.81999687e+02] [-3.85401994e-01 9.20667055e-01 -6.19473721e-02 -5.24658384e+01] [-1.63246352e-01 -1.95425769e-03 9.86583402e-01 -3.08481164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:-52.47, Z:-30.85 [[ 9.09018635e-01 3.88235237e-01 1.51520699e-01 1.82026117e+02] [-3.83235558e-01 9.21558928e-01 -6.21260665e-02 -5.24746731e+01] [-1.63754781e-01 -1.59436743e-03 9.86499787e-01 -3.08544999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.05, Y:-52.48, Z:-30.86 [[ 9.11492011e-01 3.82269230e-01 1.51830663e-01 1.82053089e+02] [-3.77168618e-01 9.24050838e-01 -6.22405233e-02 -5.24827280e+01] [-1.64091888e-01 -5.34021496e-04 9.86444913e-01 -3.08593437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.08, Y:-52.49, Z:-30.86 [[ 9.12958613e-01 3.78627147e-01 1.52144847e-01 1.82079449e+02] [-3.73457085e-01 9.25549281e-01 -6.23565094e-02 -5.24929601e+01] [-1.64427421e-01 1.09341444e-04 9.86389178e-01 -3.08640596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.11, Y:-52.50, Z:-30.87 [[ 9.14581371e-01 3.74662755e-01 1.52212801e-01 1.82105491e+02] [-3.69434838e-01 9.27160804e-01 -6.23758306e-02 -5.25034976e+01] [-1.64495643e-01 8.15061251e-04 9.86377473e-01 -3.08691355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.13, Y:-52.51, Z:-30.87 [[ 9.17993110e-01 3.66027935e-01 1.52683336e-01 1.82131172e+02] [-3.60649804e-01 9.30600860e-01 -6.25600444e-02 -5.25134027e+01] [-1.64985967e-01 2.36447471e-03 9.86293080e-01 -3.08737605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27587156000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:182.16, Y:-52.53, Z:-30.88 [[ 9.19700308e-01 3.61748091e-01 1.52609512e-01 1.82160279e+02] [-3.56318576e-01 9.32270660e-01 -6.25179096e-02 -5.25256051e+01] [-1.64889105e-01 3.12013661e-03 9.86307177e-01 -3.08786957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:-52.54, Z:-30.89 [[ 9.21324210e-01 3.57665662e-01 1.52436790e-01 1.82189045e+02] [-3.52187767e-01 9.33841661e-01 -6.24782219e-02 -5.25386252e+01] [-1.64698140e-01 3.87632559e-03 9.86336401e-01 -3.08854728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:-52.55, Z:-30.89 [[ 9.23055889e-01 3.53348667e-01 1.52028107e-01 1.82217077e+02] [-3.47838523e-01 9.35480118e-01 -6.23322580e-02 -5.25517996e+01] [-1.64244292e-01 4.65492564e-03 9.86408711e-01 -3.08907755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.25, Y:-52.57, Z:-30.90 [[ 9.26156942e-01 3.45370090e-01 1.51501878e-01 1.82246412e+02] [-3.39787629e-01 9.38446900e-01 -6.21432469e-02 -5.25667991e+01] [-1.63638886e-01 6.07593563e-03 9.86501595e-01 -3.08964383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:-52.58, Z:-30.90 [[ 9.27326517e-01 3.42217598e-01 1.51501305e-01 1.82275190e+02] [-3.36587710e-01 9.39597089e-01 -6.21773542e-02 -5.25802845e+01] [-1.63628370e-01 6.66523199e-03 9.86499534e-01 -3.09023073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:-52.59, Z:-30.91 [[ 9.28214646e-01 3.39600956e-01 1.51949864e-01 1.82303086e+02] [-3.33897273e-01 9.40542212e-01 -6.23935728e-02 -5.25942211e+01] [-1.64104178e-01 7.17898286e-03 9.86416890e-01 -3.09074617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:-52.61, Z:-30.91 [[ 9.29492064e-01 3.35787064e-01 1.52615697e-01 1.82331344e+02] [-3.29976668e-01 9.41904644e-01 -6.26980062e-02 -5.26115879e+01] [-1.64802613e-01 7.91767991e-03 9.86294788e-01 -3.09128277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.36, Y:-52.63, Z:-30.92 [[ 9.29798841e-01 3.34889761e-01 1.52718573e-01 1.82360718e+02] [-3.29053964e-01 9.42222381e-01 -6.27731961e-02 -5.26261234e+01] [-1.64916958e-01 8.11379308e-03 9.86274081e-01 -3.09181230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:-52.64, Z:-30.92 [[ 9.29948421e-01 3.34485232e-01 1.52694344e-01 1.82388727e+02] [-3.28640353e-01 9.42365178e-01 -6.27964167e-02 -5.26399413e+01] [-1.64898307e-01 8.21590529e-03 9.86276354e-01 -3.09236757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.42, Y:-52.66, Z:-30.93 [[ 9.29931620e-01 3.34614949e-01 1.52512352e-01 1.82416311e+02] [-3.28780694e-01 9.42319157e-01 -6.27523815e-02 -5.26573473e+01] [-1.64713196e-01 8.21230706e-03 9.86307316e-01 -3.09294163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:182.45, Y:-52.67, Z:-30.93 [[ 9.29851488e-01 3.34858408e-01 1.52466577e-01 1.82445674e+02] [-3.29025542e-01 9.42232799e-01 -6.27657958e-02 -5.26727401e+01] [-1.64676664e-01 8.19747062e-03 9.86313539e-01 -3.09337977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:-52.69, Z:-30.94 [[ 9.29530290e-01 3.35630687e-01 1.52726822e-01 1.82473196e+02] [-3.29782284e-01 9.41958761e-01 -6.29073829e-02 -5.26880297e+01] [-1.64976016e-01 8.10771789e-03 9.86264254e-01 -3.09402431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.50, Y:-52.71, Z:-30.94 [[ 9.28912332e-01 3.37524430e-01 1.52312638e-01 1.82500898e+02] [-3.31729724e-01 9.41284704e-01 -6.27574409e-02 -5.27069470e+01] [-1.64551726e-01 7.76953138e-03 9.86337855e-01 -3.09449144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.53, Y:-52.72, Z:-30.95 [[ 9.28376450e-01 3.39196715e-01 1.51864266e-01 1.82528269e+02] [-3.33452953e-01 9.40685708e-01 -6.26061231e-02 -5.27224073e+01] [-1.64092336e-01 7.48246219e-03 9.86416605e-01 -3.09512433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.56, Y:-52.74, Z:-30.96 [[ 9.27796791e-01 3.40840261e-01 1.51726830e-01 1.82557630e+02] [-3.35125387e-01 9.40093619e-01 -6.25696544e-02 -5.27381350e+01] [-1.63963682e-01 7.20441190e-03 9.86440068e-01 -3.09558021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:-52.76, Z:-30.96 [[ 9.26184459e-01 3.45569226e-01 1.50878291e-01 1.82584935e+02] [-3.39975187e-01 9.38371687e-01 -6.22531076e-02 -5.27555173e+01] [-1.63092674e-01 6.36298556e-03 9.86590235e-01 -3.09619923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.61, Y:-52.77, Z:-30.97 [[ 9.25052676e-01 3.48665783e-01 1.50697438e-01 1.82613844e+02] [-3.43122643e-01 9.37228996e-01 -6.21985565e-02 -5.27714528e+01] [-1.62924517e-01 5.82923795e-03 9.86621316e-01 -3.09670445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:-52.79, Z:-30.97 [[ 9.23802396e-01 3.51959337e-01 1.50710845e-01 1.82641578e+02] [-3.46453126e-01 9.36000394e-01 -6.22373946e-02 -5.27862631e+01] [-1.62970442e-01 5.28081098e-03 9.86616819e-01 -3.09730997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.67, Y:-52.80, Z:-30.98 [[ 9.22460396e-01 3.55429886e-01 1.50785989e-01 1.82670338e+02] [-3.49958959e-01 9.34691129e-01 -6.22994383e-02 -5.28021455e+01] [-1.63081409e-01 4.69985672e-03 9.86601422e-01 -3.09786347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.70, Y:-52.82, Z:-30.98 [[ 9.19889327e-01 3.62142761e-01 1.50519918e-01 1.82698203e+02] [-3.56774662e-01 9.32115932e-01 -6.22232188e-02 -5.28200490e+01] [-1.62835702e-01 3.53678206e-03 9.86646860e-01 -3.09836599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.73, Y:-52.84, Z:-30.99 [[ 9.18481124e-01 3.65716499e-01 1.50478792e-01 1.82726131e+02] [-3.60393200e-01 9.30721669e-01 -6.22407919e-02 -5.28352976e+01] [-1.62816357e-01 2.93545923e-03 9.86652024e-01 -3.09885757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.75, Y:-52.85, Z:-30.99 [[ 9.17099936e-01 3.69216593e-01 1.50355627e-01 1.82754806e+02] [-3.63943417e-01 9.29340421e-01 -6.22219472e-02 -5.28501844e+01] [-1.62704937e-01 2.34280312e-03 9.86671989e-01 -3.09948580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:-52.87, Z:-31.00 [[ 9.14584967e-01 3.75391761e-01 1.50384057e-01 1.82782829e+02] [-3.70193771e-01 9.26865359e-01 -6.22669832e-02 -5.28676388e+01] [-1.62760286e-01 1.27720550e-03 9.86664816e-01 -3.10009455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:-52.88, Z:-31.01 [[ 9.13481355e-01 3.77960187e-01 1.50658262e-01 1.82810952e+02] [-3.72772157e-01 9.25821456e-01 -6.24143384e-02 -5.28821811e+01] [-1.63072787e-01 8.53128958e-04 9.86613672e-01 -3.10064229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.84, Y:-52.90, Z:-31.01 [[ 9.12455034e-01 3.80370733e-01 1.50810861e-01 1.82839684e+02] [-3.75199581e-01 9.24833985e-01 -6.25089931e-02 -5.28972125e+01] [-1.63251602e-01 4.52473454e-04 9.86584365e-01 -3.10121674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:-52.91, Z:-31.02 [[ 9.10873228e-01 3.84146014e-01 1.50803854e-01 1.82866912e+02] [-3.79020816e-01 9.23272334e-01 -6.25413275e-02 -5.29142836e+01] [-1.63258028e-01 -1.90578774e-04 9.86583387e-01 -3.10173386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.89, Y:-52.93, Z:-31.02 [[ 9.10105046e-01 3.86049097e-01 1.50581874e-01 1.82894707e+02] [-3.80959527e-01 9.22478100e-01 -6.24819522e-02 -5.29282168e+01] [-1.63029582e-01 -5.00459526e-04 9.86621054e-01 -3.10230102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:182.92, Y:-52.94, Z:-31.03 [[ 9.09487684e-01 3.87670889e-01 1.50144710e-01 1.82924234e+02] [-3.82627839e-01 9.21797540e-01 -6.23316324e-02 -5.29423335e+01] [-1.62567183e-01 -7.59693778e-04 9.86697184e-01 -3.10284192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:-52.96, Z:-31.03 [[ 9.08013251e-01 3.91559269e-01 1.48974074e-01 1.82952790e+02] [-3.86641613e-01 9.20151804e-01 -6.18782770e-02 -5.29591677e+01] [-1.61307776e-01 -1.41328079e-03 9.86903138e-01 -3.10348219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.98, Y:-52.97, Z:-31.04 [[ 9.07071389e-01 3.93657632e-01 1.49181650e-01 1.82982686e+02] [-3.88748876e-01 9.19255448e-01 -6.19978394e-02 -5.29734281e+01] [-1.61541967e-01 -1.75773239e-03 9.86864278e-01 -3.10397553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:-52.99, Z:-31.05 [[ 9.06046563e-01 3.95931816e-01 1.49390839e-01 1.83011640e+02] [-3.91034349e-01 9.18277431e-01 -6.21184241e-02 -5.29855698e+01] [-1.61776896e-01 -2.13476484e-03 9.86825050e-01 -3.10459445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.04, Y:-53.00, Z:-31.05 [[ 9.04304776e-01 3.99975884e-01 1.49171593e-01 1.83041402e+02] [-3.95142316e-01 9.16521312e-01 -6.20583185e-02 -5.29982331e+01] [-1.61540774e-01 -2.82437466e-03 9.86861997e-01 -3.10515759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:-53.01, Z:-31.06 [[ 9.04271827e-01 4.00054867e-01 1.49159530e-01 1.83071831e+02] [-3.95217588e-01 9.16486893e-01 -6.20872988e-02 -5.30110303e+01] [-1.61541080e-01 -2.80667432e-03 9.86861997e-01 -3.10572714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.10, Y:-53.02, Z:-31.06 [[ 9.03461444e-01 4.01884739e-01 1.49151181e-01 1.83101649e+02] [-3.97070522e-01 9.15684944e-01 -6.20973815e-02 -5.30243026e+01] [-1.61531481e-01 -3.12094747e-03 9.86862625e-01 -3.10629287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.13, Y:-53.04, Z:-31.07 [[ 9.02734305e-01 4.03392006e-01 1.49484660e-01 1.83130742e+02] [-3.98571048e-01 9.15021067e-01 -6.22701062e-02 -5.30372886e+01] [-1.61900876e-01 -3.36689662e-03 9.86801282e-01 -3.10688252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.16, Y:-53.05, Z:-31.07 [[ 9.02186175e-01 4.04753229e-01 1.49113811e-01 1.83160140e+02] [-3.99969666e-01 9.14418972e-01 -6.21466793e-02 -5.30514819e+01] [-1.61506567e-01 -3.57312609e-03 9.86865169e-01 -3.10746870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:-53.06, Z:-31.08 [[ 9.02158714e-01 4.04932401e-01 1.48793165e-01 1.83189589e+02] [-4.00166556e-01 9.14339668e-01 -6.20459361e-02 -5.30644825e+01] [-1.61171903e-01 -3.56676654e-03 9.86919903e-01 -3.10806268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.22, Y:-53.08, Z:-31.09 [[ 9.02285473e-01 4.04686802e-01 1.48692694e-01 1.83218231e+02] [-3.99918757e-01 9.14448693e-01 -6.20368896e-02 -5.30766229e+01] [-1.61077350e-01 -3.49001312e-03 9.86935614e-01 -3.10861066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:-53.09, Z:-31.09 [[ 9.02489191e-01 4.04222864e-01 1.48718312e-01 1.83248424e+02] [-3.99441926e-01 9.14654282e-01 -6.20781196e-02 -5.30892286e+01] [-1.61119236e-01 -3.37949707e-03 9.86929162e-01 -3.10920911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:-53.10, Z:-31.10 [[ 9.03230842e-01 4.02591928e-01 1.48639787e-01 1.83278210e+02] [-3.97788871e-01 9.15374456e-01 -6.20775252e-02 -5.31016503e+01] [-1.61052974e-01 -3.05691766e-03 9.86941029e-01 -3.10975091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.31, Y:-53.11, Z:-31.10 [[ 9.03586526e-01 4.01677454e-01 1.48951710e-01 1.83307703e+02] [-3.96836446e-01 9.15776712e-01 -6.22402582e-02 -5.31144234e+01] [-1.61407016e-01 -2.87000864e-03 9.86883751e-01 -3.11026222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:-53.13, Z:-31.11 [[ 9.04415071e-01 3.99768700e-01 1.49058264e-01 1.83337264e+02] [-3.94889608e-01 9.16612641e-01 -6.23174508e-02 -5.31274534e+01] [-1.61541256e-01 -2.50071789e-03 9.86862791e-01 -3.11085772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:-53.14, Z:-31.11 [[ 9.04761999e-01 3.99005151e-01 1.48998707e-01 1.83366614e+02] [-3.94114208e-01 9.16945718e-01 -6.23260830e-02 -5.31400146e+01] [-1.61492154e-01 -2.33223584e-03 9.86871240e-01 -3.11138849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.40, Y:-53.15, Z:-31.12 [[ 9.05068625e-01 3.98298517e-01 1.49027096e-01 1.83396013e+02] [-3.93391059e-01 9.17253264e-01 -6.23692597e-02 -5.31518650e+01] [-1.61537174e-01 -2.17746698e-03 9.86864226e-01 -3.11194290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.42, Y:-53.16, Z:-31.13 [[ 9.05644701e-01 3.96995272e-01 1.49004799e-01 1.83424037e+02] [-3.92066416e-01 9.17818658e-01 -6.23925946e-02 -5.31616681e+01] [-1.61528949e-01 -1.91425471e-03 9.86866118e-01 -3.11251293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.45, Y:-53.17, Z:-31.13 [[ 9.05761499e-01 3.96727507e-01 1.49008025e-01 1.83453996e+02] [-3.91795118e-01 9.17934527e-01 -6.23922317e-02 -5.31738788e+01] [-1.61532325e-01 -1.86813532e-03 9.86865653e-01 -3.11307708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.48, Y:-53.19, Z:-31.14 [[ 9.05924510e-01 3.96322594e-01 1.49094544e-01 1.83482663e+02] [-3.91373550e-01 9.18109624e-01 -6.24616869e-02 -5.31860400e+01] [-1.61640113e-01 -1.76608759e-03 9.86848192e-01 -3.11360049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.51, Y:-53.20, Z:-31.14 [[ 9.06352881e-01 3.95155859e-01 1.49587103e-01 1.83513079e+02] [-3.90152971e-01 9.18612809e-01 -6.26990187e-02 -5.31993680e+01] [-1.62188514e-01 -1.53441634e-03 9.86758598e-01 -3.11404247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:-53.21, Z:-31.15 [[ 9.06579438e-01 3.94454671e-01 1.50064105e-01 1.83541954e+02] [-3.89404553e-01 9.18914360e-01 -6.29324423e-02 -5.32118636e+01] [-1.62720056e-01 -1.38238743e-03 9.86671309e-01 -3.11463591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:-53.22, Z:-31.15 [[ 9.06854814e-01 3.93807428e-01 1.50100153e-01 1.83572178e+02] [-3.88740967e-01 9.19192133e-01 -6.29784346e-02 -5.32247274e+01] [-1.62772255e-01 -1.23778205e-03 9.86662891e-01 -3.11514336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.60, Y:-53.24, Z:-31.16 [[ 9.07025283e-01 3.93328772e-01 1.50325028e-01 1.83601691e+02] [-3.88234684e-01 9.19397205e-01 -6.31079143e-02 -5.32369671e+01] [-1.63030569e-01 -1.12091593e-03 9.86620382e-01 -3.11566588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.63, Y:-53.25, Z:-31.16 [[ 9.07183720e-01 3.92794305e-01 1.50765815e-01 1.83631525e+02] [-3.87657327e-01 9.19625815e-01 -6.33258077e-02 -5.32484533e+01] [-1.63522152e-01 -9.97331074e-04 9.86539158e-01 -3.11621584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.66, Y:-53.26, Z:-31.17 [[ 9.07376518e-01 3.92436548e-01 1.50537072e-01 1.83661278e+02] [-3.87305157e-01 9.19778638e-01 -6.32611550e-02 -5.32607663e+01] [-1.63286772e-01 -9.02097759e-04 9.86578236e-01 -3.11676178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86587156000002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:183.69, Y:-53.27, Z:-31.17 [[ 9.07625361e-01 3.91939597e-01 1.50331489e-01 1.83690963e+02] [-3.86809975e-01 9.19990621e-01 -6.32083833e-02 -5.32733532e+01] [-1.63077428e-01 -7.80187790e-04 9.86612966e-01 -3.11726486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:-53.29, Z:-31.18 [[ 9.08342832e-01 3.89984004e-01 1.51082019e-01 1.83719462e+02] [-3.84769842e-01 9.20821545e-01 -6.35598137e-02 -5.32857922e+01] [-1.63906889e-01 -3.97703544e-04 9.86475734e-01 -3.11791745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.75, Y:-53.30, Z:-31.18 [[ 9.08868244e-01 3.88719595e-01 1.51180658e-01 1.83748898e+02] [-3.83477627e-01 9.21356095e-01 -6.36227590e-02 -5.32985561e+01] [-1.64022634e-01 -1.49694661e-04 9.86456564e-01 -3.11846816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.78, Y:-53.31, Z:-31.19 [[ 9.09365086e-01 3.87575589e-01 1.51130088e-01 1.83777691e+02] [-3.82315682e-01 9.21837922e-01 -6.36361876e-02 -5.33108290e+01] [-1.63981279e-01 8.91245769e-05 9.86463447e-01 -3.11904685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.81, Y:-53.32, Z:-31.20 [[ 9.09970337e-01 3.86295252e-01 1.50764598e-01 1.83807845e+02] [-3.81038151e-01 9.22375117e-01 -6.35143367e-02 -5.33234774e+01] [-1.63596801e-01 3.49098599e-04 9.86527225e-01 -3.11958635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.84, Y:-53.34, Z:-31.20 [[ 9.11086634e-01 3.83681978e-01 1.50696000e-01 1.83837241e+02] [-3.78388356e-01 9.23464897e-01 -6.35203624e-02 -5.33362925e+01] [-1.63534085e-01 8.50941450e-04 9.86537318e-01 -3.12021562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.87, Y:-53.35, Z:-31.21 [[ 9.11603009e-01 3.82556537e-01 1.50434202e-01 1.83865584e+02] [-3.77260422e-01 9.23931448e-01 -6.34448804e-02 -5.33491634e+01] [-1.63262144e-01 1.08367330e-03 9.86582129e-01 -3.12074226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.90, Y:-53.36, Z:-31.21 [[ 9.11983742e-01 3.81706261e-01 1.50286340e-01 1.83895243e+02] [-3.76403783e-01 9.24282819e-01 -6.34150034e-02 -5.33629343e+01] [-1.63112985e-01 1.26510539e-03 9.86606585e-01 -3.12128333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.92, Y:-53.38, Z:-31.22 [[ 9.12516247e-01 3.80395311e-01 1.50377882e-01 1.83924450e+02] [-3.75063071e-01 9.24822719e-01 -6.34872614e-02 -5.33772102e+01] [-1.63223138e-01 1.53196747e-03 9.86587989e-01 -3.12180121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:-53.39, Z:-31.22 [[ 9.12544410e-01 3.80309156e-01 1.50424882e-01 1.83953449e+02] [-3.74966725e-01 9.24858070e-01 -6.35413684e-02 -5.33908024e+01] [-1.63287031e-01 1.57999497e-03 9.86577341e-01 -3.12235066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.98, Y:-53.40, Z:-31.23 [[ 9.12604010e-01 3.80179740e-01 1.50390443e-01 1.83983467e+02] [-3.74832772e-01 9.24911185e-01 -6.35585797e-02 -5.34039680e+01] [-1.63261488e-01 1.63254789e-03 9.86581482e-01 -3.12286724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.01, Y:-53.42, Z:-31.23 [[ 9.12315280e-01 3.80582870e-01 1.51120839e-01 1.84012985e+02] [-3.75183227e-01 9.24745434e-01 -6.39017134e-02 -5.34168991e+01] [-1.64068204e-01 1.60050546e-03 9.86447699e-01 -3.12342466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.04, Y:-53.43, Z:-31.24 [[ 9.12101684e-01 3.80994856e-01 1.51371851e-01 1.84041466e+02] [-3.75577025e-01 9.24575839e-01 -6.40423022e-02 -5.34300695e+01] [-1.64354544e-01 1.56130228e-03 9.86400094e-01 -3.12396395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.07, Y:-53.44, Z:-31.25 [[ 9.11877468e-01 3.81576287e-01 1.51258126e-01 1.84071120e+02] [-3.76169295e-01 9.24336157e-01 -6.40260146e-02 -5.34442304e+01] [-1.64244164e-01 1.48521743e-03 9.86418597e-01 -3.12455830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.10, Y:-53.46, Z:-31.25 [[ 9.11639672e-01 3.82530531e-01 1.50278077e-01 1.84099905e+02] [-3.77201109e-01 9.23941885e-01 -6.36452383e-02 -5.34581558e+01] [-1.63194457e-01 1.33646678e-03 9.86593018e-01 -3.12510178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:184.13, Y:-53.47, Z:-31.26 [[ 9.11495435e-01 3.83048071e-01 1.49834069e-01 1.84129686e+02] [-3.77753901e-01 9.23727552e-01 -6.34775551e-02 -5.34719188e+01] [-1.62720813e-01 1.25909760e-03 9.86671349e-01 -3.12570706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.16, Y:-53.49, Z:-31.26 [[ 9.11251312e-01 3.83751266e-01 1.49519272e-01 1.84158864e+02] [-3.78483370e-01 9.23435766e-01 -6.33776293e-02 -5.34854595e+01] [-1.62392689e-01 1.16238973e-03 9.86725526e-01 -3.12633458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:-53.50, Z:-31.27 [[ 9.10864683e-01 3.84780897e-01 1.49228654e-01 1.84187687e+02] [-3.79541848e-01 9.23007392e-01 -6.32877612e-02 -5.34996712e+01] [-1.62091072e-01 1.00806744e-03 9.86775288e-01 -3.12695053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.22, Y:-53.51, Z:-31.27 [[ 9.10566403e-01 3.85487873e-01 1.49224416e-01 1.84216309e+02] [-3.80253054e-01 9.22712450e-01 -6.33194250e-02 -5.35127847e+01] [-1.62100097e-01 9.13501013e-04 9.86773897e-01 -3.12738623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.25, Y:-53.53, Z:-31.28 [[ 9.10166034e-01 3.86217117e-01 1.49780269e-01 1.84246349e+02] [-3.80947607e-01 9.22407542e-01 -6.35865360e-02 -5.35261637e+01] [-1.62716659e-01 8.15870037e-04 9.86672501e-01 -3.12802862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.28, Y:-53.54, Z:-31.29 [[ 9.09140065e-01 3.88039168e-01 1.51294240e-01 1.84276117e+02] [-3.82681220e-01 9.21642733e-01 -6.42631902e-02 -5.35399663e+01] [-1.64375871e-01 5.26776796e-04 9.86397636e-01 -3.12852944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.31, Y:-53.55, Z:-31.29 [[ 9.08397347e-01 3.89609822e-01 1.51718314e-01 1.84306147e+02] [-3.84237501e-01 9.20979973e-01 -6.44781547e-02 -5.35532327e+01] [-1.64850851e-01 2.75918749e-04 9.86318468e-01 -3.12905986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.33, Y:-53.57, Z:-31.30 [[ 9.07501449e-01 3.91472943e-01 1.52282815e-01 1.84334705e+02] [-3.86080454e-01 9.20189618e-01 -6.47529883e-02 -5.35653237e+01] [-1.65478109e-01 -2.99877394e-05 9.86213463e-01 -3.12962156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.36, Y:-53.58, Z:-31.30 [[ 9.05691316e-01 3.95749674e-01 1.52004724e-01 1.84363993e+02] [-3.90431241e-01 9.18358094e-01 -6.46672774e-02 -5.35774909e+01] [-1.65186823e-01 -7.78801456e-04 9.86261987e-01 -3.13024579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.39, Y:-53.59, Z:-31.31 [[ 9.04789973e-01 3.97933445e-01 1.51670955e-01 1.84394068e+02] [-3.92665488e-01 9.17413559e-01 -6.45459244e-02 -5.35896552e+01] [-1.64829972e-01 -1.15544424e-03 9.86321319e-01 -3.13083574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.42, Y:-53.60, Z:-31.31 [[ 9.03851830e-01 4.00229778e-01 1.51221672e-01 1.84423058e+02] [-3.95019262e-01 9.16413533e-01 -6.43895922e-02 -5.36015128e+01] [-1.64352218e-01 -1.53682234e-03 9.86400520e-01 -3.13143880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.45, Y:-53.61, Z:-31.32 [[ 9.03000585e-01 4.02241812e-01 1.50968434e-01 1.84453611e+02] [-3.97071326e-01 9.15531556e-01 -6.43143183e-02 -5.36137485e+01] [-1.64086273e-01 -1.86936923e-03 9.86444221e-01 -3.13205891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.48, Y:-53.63, Z:-31.33 [[ 9.02372784e-01 4.03809094e-01 1.50537618e-01 1.84483301e+02] [-3.98684450e-01 9.14840823e-01 -6.41636758e-02 -5.36259954e+01] [-1.63627834e-01 -2.11745264e-03 9.86519867e-01 -3.13263008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.51, Y:-53.64, Z:-31.33 [[ 9.01472756e-01 4.06042775e-01 1.49920428e-01 1.84512683e+02] [-4.00985255e-01 9.13850707e-01 -6.39352079e-02 -5.36383810e+01] [-1.62965318e-01 -2.48003287e-03 9.86628681e-01 -3.13321018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:-53.65, Z:-31.34 [[ 9.01135246e-01 4.06628530e-01 1.50361252e-01 1.84543228e+02] [-4.01545673e-01 9.13589958e-01 -6.41440697e-02 -5.36509102e+01] [-1.63451339e-01 -2.57442816e-03 9.86548038e-01 -3.13377035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.57, Y:-53.66, Z:-31.34 [[ 9.00775135e-01 4.06964127e-01 1.51605922e-01 1.84573200e+02] [-4.01795124e-01 9.13440368e-01 -6.47099037e-02 -5.36623930e+01] [-1.64817579e-01 -2.62544816e-03 9.86320573e-01 -3.13421590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.60, Y:-53.67, Z:-31.35 [[ 9.00492452e-01 4.07398190e-01 1.52118566e-01 1.84603351e+02] [-4.02194672e-01 9.13246686e-01 -6.49610446e-02 -5.36746613e+01] [-1.65386788e-01 -2.68434619e-03 9.86225129e-01 -3.13472099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.63, Y:-53.69, Z:-31.35 [[ 9.00213469e-01 4.07858239e-01 1.52536443e-01 1.84632702e+02] [-4.02626603e-01 9.13041141e-01 -6.51743338e-02 -5.36859634e+01] [-1.65853937e-01 -2.74441670e-03 9.86146510e-01 -3.13523618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.66, Y:-53.70, Z:-31.36 [[ 8.99891688e-01 4.08439834e-01 1.52878551e-01 1.84663362e+02] [-4.03189310e-01 9.12780831e-01 -6.53416804e-02 -5.36970657e+01] [-1.66232756e-01 -2.83856250e-03 9.86082458e-01 -3.13576996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.69, Y:-53.71, Z:-31.36 [[ 8.99076085e-01 4.10235611e-01 1.52869018e-01 1.84694512e+02] [-4.05005698e-01 9.11974174e-01 -6.53719406e-02 -5.37058261e+01] [-1.66230494e-01 -3.13847483e-03 9.86081930e-01 -3.13640192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.72, Y:-53.72, Z:-31.37 [[ 8.98776197e-01 4.11038979e-01 1.52473950e-01 1.84724156e+02] [-4.05841917e-01 9.11611989e-01 -6.52374172e-02 -5.37157969e+01] [-1.65812202e-01 -3.24648245e-03 9.86152003e-01 -3.13697607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.75, Y:-53.73, Z:-31.38 [[ 8.98363663e-01 4.12010485e-01 1.52282928e-01 1.84754371e+02] [-4.06834996e-01 9.11172791e-01 -6.51876539e-02 -5.37265076e+01] [-1.65614057e-01 -3.39180474e-03 9.86184810e-01 -3.13759222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:-53.74, Z:-31.38 [[ 8.98084783e-01 4.12994758e-01 1.51258230e-01 1.84784408e+02] [-4.07897269e-01 9.10726611e-01 -6.47831589e-02 -5.37353642e+01] [-1.64510000e-01 -3.51704964e-03 9.86369145e-01 -3.13817912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.81, Y:-53.75, Z:-31.39 [[ 8.98144443e-01 4.13076135e-01 1.50680679e-01 1.84812469e+02] [-4.08013394e-01 9.10689817e-01 -6.45687751e-02 -5.37455932e+01] [-1.63895180e-01 -3.48764890e-03 9.86471594e-01 -3.13852680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.84, Y:-53.75, Z:-31.39 [[ 8.98287008e-01 4.12702597e-01 1.50854289e-01 1.84841226e+02] [-4.07622522e-01 9.10859407e-01 -6.46453431e-02 -5.37546556e+01] [-1.64086349e-01 -3.42153394e-03 9.86440045e-01 -3.13921200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.87, Y:-53.76, Z:-31.40 [[ 8.98630499e-01 4.11698868e-01 1.51549559e-01 1.84868776e+02] [-4.06557360e-01 9.11314138e-01 -6.49434777e-02 -5.37612562e+01] [-1.64846412e-01 -3.25339903e-03 9.86313883e-01 -3.13974116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.90, Y:-53.77, Z:-31.40 [[ 8.98970415e-01 4.10916720e-01 1.51656332e-01 1.84896804e+02] [-4.05757928e-01 9.11667553e-01 -6.49828960e-02 -5.37709407e+01] [-1.64962716e-01 -3.11805812e-03 9.86294875e-01 -3.14021505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.92, Y:-53.78, Z:-31.41 [[ 8.99312843e-01 4.10090536e-01 1.51862313e-01 1.84923692e+02] [-4.04906619e-01 9.12039969e-01 -6.50670769e-02 -5.37800049e+01] [-1.65187892e-01 -2.97439778e-03 9.86257630e-01 -3.14073521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:-53.79, Z:-31.41 [[ 8.99327035e-01 4.10058280e-01 1.51865369e-01 1.84950294e+02] [-4.04875111e-01 9.12054466e-01 -6.50599432e-02 -5.37913150e+01] [-1.65187856e-01 -2.97634221e-03 9.86257630e-01 -3.14123358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:-53.80, Z:-31.42 [[ 8.99736127e-01 4.09106904e-01 1.52008034e-01 1.84977291e+02] [-4.03901485e-01 9.12482134e-01 -6.51148682e-02 -5.37977718e+01] [-1.65343557e-01 -2.81007132e-03 9.86232027e-01 -3.14168965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.00, Y:-53.81, Z:-31.42 [[ 8.99889443e-01 4.08626471e-01 1.52392251e-01 1.85003794e+02] [-4.03389462e-01 9.12697599e-01 -6.52689461e-02 -5.38057457e+01] [-1.65758661e-01 -2.73859244e-03 9.86162546e-01 -3.14217323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.03, Y:-53.81, Z:-31.43 [[ 8.99996252e-01 4.08321427e-01 1.52579024e-01 1.85030621e+02] [-4.03068884e-01 9.12834239e-01 -6.53385598e-02 -5.38133336e+01] [-1.65958491e-01 -2.69539786e-03 9.86129056e-01 -3.14261594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.06, Y:-53.82, Z:-31.43 [[ 9.00164400e-01 4.08060404e-01 1.52285124e-01 1.85056905e+02] [-4.02826566e-01 9.12951075e-01 -6.52003992e-02 -5.38206431e+01] [-1.65634569e-01 -2.65341506e-03 9.86183628e-01 -3.14307712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:-53.82, Z:-31.44 [[ 9.00556363e-01 4.07235754e-01 1.52175158e-01 1.85085326e+02] [-4.02000242e-01 9.13319618e-01 -6.51389309e-02 -5.38249487e+01] [-1.65511459e-01 -2.51317175e-03 9.86204665e-01 -3.14364529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:-53.83, Z:-31.44 [[ 9.00881712e-01 4.06676966e-01 1.51743160e-01 1.85111084e+02] [-4.01465444e-01 9.13568835e-01 -6.49421399e-02 -5.38325347e+01] [-1.65038294e-01 -2.41444892e-03 9.86284204e-01 -3.14411733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.14, Y:-53.84, Z:-31.45 [[ 9.01223951e-01 4.05986135e-01 1.51560707e-01 1.85137599e+02] [-4.00781067e-01 9.13876330e-01 -6.48428113e-02 -5.38402054e+01] [-1.64833025e-01 -2.30476727e-03 9.86318793e-01 -3.14462889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.17, Y:-53.85, Z:-31.45 [[ 9.02083322e-01 4.04120080e-01 1.51435272e-01 1.85166141e+02] [-3.98899584e-01 9.14703814e-01 -6.47769651e-02 -5.38457119e+01] [-1.64696093e-01 -1.97324706e-03 9.86342386e-01 -3.14517884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.19, Y:-53.85, Z:-31.46 [[ 9.02674535e-01 4.02820664e-01 1.51374360e-01 1.85192030e+02] [-3.97587621e-01 9.15277266e-01 -6.47426393e-02 -5.38535487e+01] [-1.64629183e-01 -1.74303978e-03 9.86353990e-01 -3.14563420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:-53.86, Z:-31.46 [[ 9.03398445e-01 4.01263956e-01 1.51190236e-01 1.85218481e+02] [-3.96024524e-01 9.15961284e-01 -6.46490732e-02 -5.38613873e+01] [-1.64425746e-01 -1.47116921e-03 9.86388367e-01 -3.14610356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.25, Y:-53.87, Z:-31.46 [[ 9.04217739e-01 3.99646143e-01 1.50576365e-01 1.85246145e+02] [-3.94429270e-01 9.16668729e-01 -6.43738420e-02 -5.38701522e+01] [-1.63755403e-01 -1.18375597e-03 9.86500262e-01 -3.14648067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:-53.88, Z:-31.47 [[ 9.05532437e-01 3.96778156e-01 1.50260108e-01 1.85273153e+02] [-3.91545443e-01 9.17914290e-01 -6.42302211e-02 -5.38762243e+01] [-1.63411049e-01 -6.71111982e-04 9.86557844e-01 -3.14709166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.30, Y:-53.88, Z:-31.48 [[ 9.05983376e-01 3.95600351e-01 1.50646887e-01 1.85300479e+02] [-3.90326088e-01 9.18422638e-01 -6.43848082e-02 -5.38848109e+01] [-1.63828164e-01 -4.69844135e-04 9.86488779e-01 -3.14760389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.33, Y:-53.89, Z:-31.48 [[ 9.06431571e-01 3.94524951e-01 1.50770921e-01 1.85327248e+02] [-3.89228600e-01 9.18885185e-01 -6.44291400e-02 -5.38927150e+01] [-1.63960069e-01 -2.83747878e-04 9.86466936e-01 -3.14805110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.35, Y:-53.90, Z:-31.49 [[ 9.07415294e-01 3.92140873e-01 1.51072897e-01 1.85353586e+02] [-3.86792085e-01 9.19905167e-01 -6.45473980e-02 -5.38978854e+01] [-1.64284411e-01 1.37495517e-04 9.86413003e-01 -3.14851254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:-53.91, Z:-31.49 [[ 9.08027017e-01 3.90593774e-01 1.51404890e-01 1.85379461e+02] [-3.85202443e-01 9.20563056e-01 -6.46740909e-02 -5.39062881e+01] [-1.64639045e-01 4.04288309e-04 9.86353801e-01 -3.14902982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:-53.92, Z:-31.49 [[ 9.08801760e-01 3.88929961e-01 1.51039225e-01 1.85406915e+02] [-3.83544109e-01 9.21267066e-01 -6.45051162e-02 -5.39155892e+01] [-1.64235436e-01 6.92158006e-04 9.86420926e-01 -3.14949474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.43, Y:-53.92, Z:-31.50 [[ 9.10341111e-01 3.85501350e-01 1.50558199e-01 1.85433102e+02] [-3.80104748e-01 9.22706357e-01 -6.42912022e-02 -5.39229338e+01] [-1.63705353e-01 1.29903792e-03 9.86508424e-01 -3.15006033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:185.46, Y:-53.93, Z:-31.50 [[ 9.11031119e-01 3.83962917e-01 1.50315597e-01 1.85459223e+02] [-3.78564748e-01 9.23347191e-01 -6.41770690e-02 -5.39326283e+01] [-1.63435099e-01 1.56312094e-03 9.86552850e-01 -3.15034070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:185.48, Y:-53.94, Z:-31.51 [[ 9.11686577e-01 3.82320916e-01 1.50526749e-01 1.85483770e+02] [-3.76887326e-01 9.24027760e-01 -6.42545145e-02 -5.39419554e+01] [-1.63656739e-01 1.84835447e-03 9.86515613e-01 -3.15081121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.51, Y:-53.95, Z:-31.51 [[ 9.12966787e-01 3.78941097e-01 1.51311903e-01 1.85509559e+02] [-3.73406599e-01 9.25417541e-01 -6.45746641e-02 -5.39515971e+01] [-1.64496683e-01 2.45366067e-03 9.86374584e-01 -3.15144259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.54, Y:-53.96, Z:-31.52 [[ 9.13630837e-01 3.77274088e-01 1.51469326e-01 1.85536225e+02] [-3.71707339e-01 9.26097580e-01 -6.46291426e-02 -5.39622458e+01] [-1.64658277e-01 2.74491746e-03 9.86346854e-01 -3.15174925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.56, Y:-53.97, Z:-31.52 [[ 9.14225056e-01 3.75521641e-01 1.52236799e-01 1.85561538e+02] [-3.69875167e-01 9.26808545e-01 -6.49482970e-02 -5.39725727e+01] [-1.65483857e-01 3.06874897e-03 9.86207724e-01 -3.15233930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.59, Y:-53.98, Z:-31.53 [[ 9.14694209e-01 3.74178998e-01 1.52723875e-01 1.85586803e+02] [-3.68479597e-01 9.27350590e-01 -6.51434564e-02 -5.39838102e+01] [-1.66003889e-01 3.31071043e-03 9.86119541e-01 -3.15278668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:-54.00, Z:-31.53 [[ 9.15693461e-01 3.71624828e-01 1.52972129e-01 1.85612737e+02] [-3.65873088e-01 9.28375339e-01 -6.52388909e-02 -5.39957277e+01] [-1.66259944e-01 3.77044072e-03 9.86074751e-01 -3.15330651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.64, Y:-54.01, Z:-31.54 [[ 9.16011656e-01 3.70917596e-01 1.52783453e-01 1.85638242e+02] [-3.65171779e-01 9.28657652e-01 -6.51501047e-02 -5.40072482e+01] [-1.66048843e-01 3.88604996e-03 9.86109872e-01 -3.15375979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:-54.02, Z:-31.54 [[ 9.16199669e-01 3.70420080e-01 1.52863111e-01 1.85663875e+02] [-3.64662741e-01 9.28855855e-01 -6.51758103e-02 -5.40194248e+01] [-1.66130224e-01 3.97057477e-03 9.86095829e-01 -3.15428979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.69, Y:-54.03, Z:-31.55 [[ 9.16263545e-01 3.70493362e-01 1.52301622e-01 1.85688572e+02] [-3.64780933e-01 9.28826780e-01 -6.49283027e-02 -5.40326482e+01] [-1.65517330e-01 3.93470912e-03 9.86199032e-01 -3.15473700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:-54.04, Z:-31.55 [[ 9.15970150e-01 3.71414494e-01 1.51822125e-01 1.85714357e+02] [-3.65752511e-01 9.28459605e-01 -6.47137007e-02 -5.40448137e+01] [-1.64996317e-01 3.74649460e-03 9.86287067e-01 -3.15525868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:-54.06, Z:-31.56 [[ 9.15457873e-01 3.72798895e-01 1.51518535e-01 1.85739688e+02] [-3.67179901e-01 9.27905630e-01 -6.45760153e-02 -5.40561448e+01] [-1.64668769e-01 3.48206103e-03 9.86342776e-01 -3.15571718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.77, Y:-54.07, Z:-31.56 [[ 9.14616072e-01 3.74850963e-01 1.51539424e-01 1.85765371e+02] [-3.69260095e-01 9.27079891e-01 -6.45744352e-02 -5.40679289e+01] [-1.64694942e-01 3.10335400e-03 9.86339670e-01 -3.15618219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.79, Y:-54.08, Z:-31.57 [[ 9.13494559e-01 3.77568169e-01 1.51558463e-01 1.85790416e+02] [-3.72014380e-01 9.25978124e-01 -6.45741077e-02 -5.40803323e+01] [-1.64720949e-01 2.60616832e-03 9.86336766e-01 -3.15655533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.81, Y:-54.09, Z:-31.57 [[ 9.10895156e-01 3.83919467e-01 1.51247669e-01 1.85814497e+02] [-3.78477026e-01 9.23365448e-01 -6.44312843e-02 -5.40913433e+01] [-1.64393296e-01 1.44637679e-03 9.86393812e-01 -3.15706593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.84, Y:-54.10, Z:-31.58 [[ 9.09501229e-01 3.87168221e-01 1.51354826e-01 1.85840607e+02] [-3.81764999e-01 9.22008705e-01 -6.44626564e-02 -5.41021224e+01] [-1.64508359e-01 8.46890363e-04 9.86375325e-01 -3.15762347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.87, Y:-54.11, Z:-31.58 [[ 9.08084462e-01 3.90431991e-01 1.51477626e-01 1.85866835e+02] [-3.85066393e-01 9.20631739e-01 -6.45063851e-02 -5.41137118e+01] [-1.64640467e-01 2.48302805e-04 9.86353616e-01 -3.15799605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:-54.12, Z:-31.59 [[ 9.05441212e-01 3.96379143e-01 1.51854490e-01 1.85891824e+02] [-3.91070916e-01 9.18086525e-01 -6.46581187e-02 -5.41247305e+01] [-1.65044691e-01 -8.41749041e-04 9.86285730e-01 -3.15861064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.92, Y:-54.14, Z:-31.59 [[ 9.04156658e-01 3.99149586e-01 1.52250930e-01 1.85917197e+02] [-3.93854204e-01 9.16884811e-01 -6.48159691e-02 -5.41355105e+01] [-1.65467833e-01 -1.36087903e-03 9.86214249e-01 -3.15905247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:-54.15, Z:-31.60 [[ 9.02943401e-01 4.01857987e-01 1.52326533e-01 1.85942784e+02] [-3.96597720e-01 9.15700094e-01 -6.48350695e-02 -5.41461051e+01] [-1.65539911e-01 -1.86995743e-03 9.86201319e-01 -3.15954731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.97, Y:-54.16, Z:-31.60 [[ 9.00920732e-01 4.06620975e-01 1.51661523e-01 1.85967753e+02] [-4.01475834e-01 9.13592827e-01 -6.45391383e-02 -5.41558311e+01] [-1.64799847e-01 -2.74378890e-03 9.86323214e-01 -3.16001854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.99, Y:-54.17, Z:-31.61 [[ 8.99970664e-01 4.08647818e-01 1.51854423e-01 1.85993306e+02] [-4.03520648e-01 9.12686773e-01 -6.46060411e-02 -5.41650434e+01] [-1.64996641e-01 -3.13285340e-03 9.86289153e-01 -3.16052290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:-54.17, Z:-31.61 [[ 8.99071725e-01 4.10594893e-01 1.51927179e-01 1.86019402e+02] [-4.05492469e-01 9.11811142e-01 -6.46242827e-02 -5.41743691e+01] [-1.65063295e-01 -3.50346156e-03 9.86276753e-01 -3.16092974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:-54.18, Z:-31.61 [[ 8.98231582e-01 4.12410106e-01 1.51980027e-01 1.86043955e+02] [-4.07332010e-01 9.10990165e-01 -6.46339893e-02 -5.41833491e+01] [-1.65108020e-01 -3.85003921e-03 9.86267975e-01 -3.16140068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.07, Y:-54.19, Z:-31.62 [[ 8.96983777e-01 4.15384280e-01 1.51248152e-01 1.86070461e+02] [-4.10399505e-01 9.09635445e-01 -6.43086625e-02 -5.41909622e+01] [-1.64293488e-01 -4.38833980e-03 9.86401740e-01 -3.16191239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:-54.20, Z:-31.62 [[ 8.96419876e-01 4.16690038e-01 1.50999400e-01 1.86096843e+02] [-4.11745652e-01 9.09036735e-01 -6.41695643e-02 -5.41993313e+01] [-1.64002819e-01 -4.65047341e-03 9.86448908e-01 -3.16235554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50587156000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:186.12, Y:-54.21, Z:-31.63 [[ 8.96017122e-01 4.17658673e-01 1.50713473e-01 1.86123320e+02] [-4.12752191e-01 9.08591064e-01 -6.40149007e-02 -5.42074604e+01] [-1.63673293e-01 -4.84886901e-03 9.86502682e-01 -3.16266421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.15, Y:-54.21, Z:-31.63 [[ 8.95317836e-01 4.19065711e-01 1.50963250e-01 1.86149825e+02] [-4.14168367e-01 9.07941323e-01 -6.40867922e-02 -5.42123537e+01] [-1.63922350e-01 -5.14615474e-03 9.86459822e-01 -3.16331987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.18, Y:-54.22, Z:-31.64 [[ 8.95282379e-01 4.19148793e-01 1.50942873e-01 1.86176527e+02] [-4.14257703e-01 9.07902771e-01 -6.40555536e-02 -5.42205716e+01] [-1.63890260e-01 -5.18143935e-03 9.86464969e-01 -3.16383073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:-54.23, Z:-31.64 [[ 8.95575605e-01 4.18515994e-01 1.50959259e-01 1.86202712e+02] [-4.13620481e-01 9.08195124e-01 -6.40290150e-02 -5.42285432e+01] [-1.63897630e-01 -5.09701740e-03 9.86464185e-01 -3.16436972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:-54.23, Z:-31.65 [[ 8.97072144e-01 4.15565800e-01 1.50221946e-01 1.86228941e+02] [-4.10682620e-01 9.09551662e-01 -6.36832782e-02 -5.42334298e+01] [-1.63099214e-01 -4.56504757e-03 9.86599112e-01 -3.16490813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:-54.24, Z:-31.65 [[ 8.98112388e-01 4.13326400e-01 1.50184637e-01 1.86254131e+02] [-4.08420131e-01 9.10573306e-01 -6.36337220e-02 -5.42411467e+01] [-1.63055619e-01 -4.18819503e-03 9.86607989e-01 -3.16538684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:-54.25, Z:-31.66 [[ 8.99346055e-01 4.10614446e-01 1.50241306e-01 1.86280637e+02] [-4.05669036e-01 9.11801521e-01 -6.36444787e-02 -5.42490261e+01] [-1.63123593e-01 -3.70983464e-03 9.86598667e-01 -3.16586593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:-54.26, Z:-31.66 [[ 9.00760347e-01 4.07465512e-01 1.50341792e-01 1.86307463e+02] [-4.02475109e-01 9.13215091e-01 -6.36551942e-02 -5.42568221e+01] [-1.63231690e-01 -3.17075458e-03 9.86582668e-01 -3.16634415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:-54.26, Z:-31.67 [[ 9.03640586e-01 4.00991296e-01 1.50464855e-01 1.86333310e+02] [-3.95908698e-01 9.16079611e-01 -6.36745536e-02 -5.42630689e+01] [-1.63370728e-01 -2.03143401e-03 9.86562658e-01 -3.16678264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.36, Y:-54.27, Z:-31.67 [[ 9.05203155e-01 3.97445735e-01 1.50479685e-01 1.86359659e+02] [-3.92315588e-01 9.17624606e-01 -6.36675817e-02 -5.42724936e+01] [-1.63388270e-01 -1.40343019e-03 9.86560846e-01 -3.16727077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.39, Y:-54.28, Z:-31.68 [[ 9.07885107e-01 3.91102179e-01 1.50942762e-01 1.86385708e+02] [-3.85858298e-01 9.20347217e-01 -6.38308160e-02 -5.42797467e+01] [-1.63884122e-01 -2.91469994e-04 9.86479554e-01 -3.16768039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.41, Y:-54.29, Z:-31.68 [[ 9.09158540e-01 3.88137473e-01 1.50930616e-01 1.86412071e+02] [-3.82855997e-01 9.21601459e-01 -6.38125126e-02 -5.42883811e+01] [-1.63865903e-01 2.30999448e-04 9.86482596e-01 -3.16812949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.44, Y:-54.30, Z:-31.69 [[ 9.10179876e-01 3.85594878e-01 1.51291714e-01 1.86438490e+02] [-3.80258256e-01 9.22667954e-01 -6.39336036e-02 -5.42975560e+01] [-1.64244487e-01 6.61155975e-04 9.86419440e-01 -3.16861906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.46, Y:-54.31, Z:-31.69 [[ 9.11095385e-01 3.83315746e-01 1.51572550e-01 1.86464513e+02] [-3.77933045e-01 9.23616775e-01 -6.40208232e-02 -5.43067391e+01] [-1.64535140e-01 1.04480111e-03 9.86370669e-01 -3.16906583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:-54.31, Z:-31.70 [[ 9.12457304e-01 3.79956062e-01 1.51838923e-01 1.86491503e+02] [-3.74513334e-01 9.25003110e-01 -6.41015602e-02 -5.43145621e+01] [-1.64807252e-01 1.62423549e-03 9.86324455e-01 -3.16952507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.52, Y:-54.32, Z:-31.70 [[ 9.13126983e-01 3.78445526e-01 1.51585276e-01 1.86516366e+02] [-3.73002595e-01 9.25621653e-01 -6.39814058e-02 -5.43235372e+01] [-1.64524090e-01 1.88144683e-03 9.86371271e-01 -3.16999131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:186.54, Y:-54.33, Z:-31.70 [[ 9.13801186e-01 3.76919983e-01 1.51323225e-01 1.86542036e+02] [-3.71477759e-01 9.26243357e-01 -6.38554545e-02 -5.43331131e+01] [-1.64230529e-01 2.13797756e-03 9.86419669e-01 -3.17035210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:-54.34, Z:-31.71 [[ 9.14310319e-01 3.75712066e-01 1.51251723e-01 1.86567119e+02] [-3.70260734e-01 9.26733489e-01 -6.38124567e-02 -5.43422104e+01] [-1.64145147e-01 2.34181352e-03 9.86433417e-01 -3.17096867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:-54.35, Z:-31.71 [[ 9.14375519e-01 3.75551284e-01 1.51256881e-01 1.86593045e+02] [-3.70099790e-01 9.26798617e-01 -6.38002301e-02 -5.43529575e+01] [-1.64144926e-01 2.35722882e-03 9.86433417e-01 -3.17145263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.62, Y:-54.36, Z:-31.72 [[ 9.14422525e-01 3.75613102e-01 1.50818577e-01 1.86618788e+02] [-3.70199511e-01 9.26773686e-01 -6.35834627e-02 -5.43626914e+01] [-1.63657471e-01 2.30918691e-03 9.86514521e-01 -3.17185104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:-54.37, Z:-31.72 [[ 9.14390161e-01 3.75840330e-01 1.50448264e-01 1.86643916e+02] [-3.70458603e-01 9.26681703e-01 -6.34148581e-02 -5.43719732e+01] [-1.63251514e-01 2.25106867e-03 9.86581915e-01 -3.17230810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.67, Y:-54.38, Z:-31.73 [[ 9.13750555e-01 3.77434029e-01 1.50344531e-01 1.86670818e+02] [-3.72084943e-01 9.26034436e-01 -6.33483960e-02 -5.43799262e+01] [-1.63134053e-01 1.94369572e-03 9.86601998e-01 -3.17275478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:-54.39, Z:-31.73 [[ 9.13321500e-01 3.78481573e-01 1.50318118e-01 1.86695426e+02] [-3.73150520e-01 9.25607182e-01 -6.33248339e-02 -5.43887886e+01] [-1.63102812e-01 1.74464854e-03 9.86607535e-01 -3.17321971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.72, Y:-54.40, Z:-31.74 [[ 9.12876021e-01 3.79639970e-01 1.50102842e-01 1.86720449e+02] [-3.74342090e-01 9.25133058e-01 -6.32204472e-02 -5.43977544e+01] [-1.62866110e-01 1.52261854e-03 9.86647005e-01 -3.17366457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:-54.41, Z:-31.74 [[ 9.12401226e-01 3.80911004e-01 1.49769189e-01 1.86746675e+02] [-3.75659218e-01 9.24610845e-01 -6.30471097e-02 -5.44070103e+01] [-1.62493554e-01 1.26208382e-03 9.86708798e-01 -3.17409562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.77, Y:-54.42, Z:-31.75 [[ 9.11272150e-01 3.83651684e-01 1.49647765e-01 1.86773692e+02] [-3.78449989e-01 9.23477574e-01 -6.29664711e-02 -5.44151360e+01] [-1.62353548e-01 7.45396468e-04 9.86732370e-01 -3.17452951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:-54.42, Z:-31.75 [[ 9.10800513e-01 3.84867188e-01 1.49397699e-01 1.86798815e+02] [-3.79704798e-01 9.22971832e-01 -6.28272599e-02 -5.44238154e+01] [-1.62070019e-01 4.96077427e-04 9.86779136e-01 -3.17505436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:-54.43, Z:-31.75 [[ 9.10407638e-01 3.85883372e-01 1.49170896e-01 1.86824499e+02] [-3.80753954e-01 9.22547526e-01 -6.27095677e-02 -5.44330662e+01] [-1.61815820e-01 2.93861158e-04 9.86820933e-01 -3.17546773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:186.85, Y:-54.44, Z:-31.76 [[ 9.10075663e-01 3.86689361e-01 1.49109441e-01 1.86849499e+02] [-3.81580498e-01 9.22210022e-01 -6.26498182e-02 -5.44424707e+01] [-1.61736239e-01 1.18820212e-04 9.86834016e-01 -3.17582731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:186.88, Y:-54.45, Z:-31.76 [[ 9.09857487e-01 3.87310521e-01 1.48828469e-01 1.86876062e+02] [-3.82232893e-01 9.21949326e-01 -6.25096405e-02 -5.44512735e+01] [-1.61422948e-01 -1.22717844e-05 9.86885318e-01 -3.17623735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.90, Y:-54.46, Z:-31.77 [[ 9.09748512e-01 3.87479412e-01 1.49054858e-01 1.86902068e+02] [-3.82393940e-01 9.21878354e-01 -6.25713569e-02 -5.44607261e+01] [-1.61655560e-01 -7.34755037e-05 9.86847240e-01 -3.17680123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.93, Y:-54.47, Z:-31.77 [[ 9.09506602e-01 3.87995625e-01 1.49188260e-01 1.86927888e+02] [-3.82913614e-01 9.21661194e-01 -6.25923959e-02 -5.44679873e+01] [-1.61786605e-01 -1.98018411e-04 9.86825747e-01 -3.17713730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:-54.48, Z:-31.78 [[ 9.09333504e-01 3.88266812e-01 1.49537494e-01 1.86953299e+02] [-3.83166906e-01 9.21546968e-01 -6.27240552e-02 -5.44773075e+01] [-1.62159493e-01 -2.60734205e-04 9.86764526e-01 -3.17759090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:186.98, Y:-54.49, Z:-31.78 [[ 9.09395692e-01 3.88085173e-01 1.49630793e-01 1.86978657e+02] [-3.82978630e-01 9.21623481e-01 -6.27497282e-02 -5.44871872e+01] [-1.62255491e-01 -2.41063587e-04 9.86748751e-01 -3.17798295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.00, Y:-54.50, Z:-31.78 [[ 9.09559983e-01 3.87663558e-01 1.49725090e-01 1.87003124e+02] [-3.82550482e-01 9.21800915e-01 -6.27550970e-02 -5.44965383e+01] [-1.62344589e-01 -1.97880309e-04 9.86734106e-01 -3.17848908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:-54.51, Z:-31.79 [[ 9.10018356e-01 3.86751509e-01 1.49297899e-01 1.87028898e+02] [-3.81657779e-01 9.22183967e-01 -6.25625393e-02 -5.45057430e+01] [-1.61876285e-01 -4.76454839e-05 9.86811059e-01 -3.17899187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:-54.51, Z:-31.79 [[ 9.11094834e-01 3.84427002e-01 1.48734946e-01 1.87055524e+02] [-3.79346357e-01 9.23155333e-01 -6.22942459e-02 -5.45146932e+01] [-1.61253049e-01 3.33905527e-04 9.86913037e-01 -3.17944066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:-54.53, Z:-31.80 [[ 9.11814021e-01 3.82797073e-01 1.48531452e-01 1.87080802e+02] [-3.77714177e-01 9.23832264e-01 -6.21767576e-02 -5.45250231e+01] [-1.61019229e-01 5.91203992e-04 9.86951092e-01 -3.17995155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.11, Y:-54.54, Z:-31.80 [[ 9.12549356e-01 3.81197609e-01 1.48128509e-01 1.87106135e+02] [-3.76126730e-01 9.24493199e-01 -6.19758616e-02 -5.45361029e+01] [-1.60568850e-01 8.40940891e-04 9.87024284e-01 -3.18040955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:187.13, Y:-54.55, Z:-31.81 [[ 9.13587991e-01 3.78902640e-01 1.47613594e-01 1.87131805e+02] [-3.73842547e-01 9.25435749e-01 -6.17286434e-02 -5.45475102e+01] [-1.59996043e-01 1.21030541e-03 9.87116914e-01 -3.18074606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.16, Y:-54.56, Z:-31.81 [[ 9.13995985e-01 3.77968451e-01 1.47482843e-01 1.87157538e+02] [-3.72910493e-01 9.25817502e-01 -6.16418407e-02 -5.45575848e+01] [-1.59840869e-01 1.34249512e-03 9.87141882e-01 -3.18124323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.18, Y:-54.57, Z:-31.82 [[ 9.14074375e-01 3.77824873e-01 1.47364863e-01 1.87182968e+02] [-3.72778615e-01 9.25876116e-01 -6.15590896e-02 -5.45678920e+01] [-1.59700162e-01 1.33511688e-03 9.87164665e-01 -3.18165250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:187.21, Y:-54.58, Z:-31.82 [[ 9.13677574e-01 3.78698545e-01 1.47582871e-01 1.87208318e+02] [-3.73650527e-01 9.25519334e-01 -6.16380314e-02 -5.45773173e+01] [-1.59933034e-01 1.17286930e-03 9.87127170e-01 -3.18198589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:-54.59, Z:-31.82 [[ 9.13223526e-01 3.79679904e-01 1.47871440e-01 1.87233280e+02] [-3.74628651e-01 9.25117403e-01 -6.17346337e-02 -5.45869991e+01] [-1.60237842e-01 9.80641783e-04 9.87077946e-01 -3.18242656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:-54.60, Z:-31.83 [[ 9.12708885e-01 3.80769972e-01 1.48245472e-01 1.87259575e+02] [-3.75709470e-01 9.24669467e-01 -6.18770723e-02 -5.45968676e+01] [-1.60638992e-01 7.78526085e-04 9.87012922e-01 -3.18285316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:-54.61, Z:-31.83 [[ 9.11538753e-01 3.83271151e-01 1.48997743e-01 1.87284766e+02] [-3.78197706e-01 9.23635821e-01 -6.21559673e-02 -5.46057057e+01] [-1.61442242e-01 3.06968095e-04 9.86882115e-01 -3.18320849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:-54.62, Z:-31.84 [[ 9.11262230e-01 3.83981900e-01 1.48859155e-01 1.87310385e+02] [-3.78929614e-01 9.23340605e-01 -6.20844221e-02 -5.46153415e+01] [-1.61286996e-01 1.68046836e-04 9.86907532e-01 -3.18365375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:-54.63, Z:-31.84 [[ 9.10869910e-01 3.84806366e-01 1.49131040e-01 1.87335409e+02] [-3.79752134e-01 9.22997324e-01 -6.21631431e-02 -5.46250966e+01] [-1.61568324e-01 -1.02941219e-05 9.86861529e-01 -3.18413156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.36, Y:-54.63, Z:-31.85 [[ 9.10612539e-01 3.85697438e-01 1.48399094e-01 1.87361208e+02] [-3.80706952e-01 9.22625305e-01 -6.18446678e-02 -5.46341363e+01] [-1.60770089e-01 -1.80036636e-04 9.86991867e-01 -3.18459206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:-54.64, Z:-31.85 [[ 9.10531503e-01 3.86165833e-01 1.47676444e-01 1.87386891e+02] [-3.81235532e-01 9.22429327e-01 -6.15110148e-02 -5.46445004e+01] [-1.59974535e-01 -2.91790880e-04 9.87121098e-01 -3.18513118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:187.41, Y:-54.65, Z:-31.86 [[ 9.10736747e-01 3.85821152e-01 1.47311288e-01 1.87412171e+02] [-3.80916308e-01 9.22573558e-01 -6.13253321e-02 -5.46543261e+01] [-1.59566109e-01 -2.62038421e-04 9.87187210e-01 -3.18555792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:-54.66, Z:-31.86 [[ 9.10805678e-01 3.85812087e-01 1.46908305e-01 1.87437389e+02] [-3.80937794e-01 9.22577343e-01 -6.11346292e-02 -5.46640372e+01] [-1.59120752e-01 -2.81157990e-04 9.87259088e-01 -3.18602923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.46, Y:-54.67, Z:-31.87 [[ 9.11588494e-01 3.84390391e-01 1.45775321e-01 1.87463863e+02] [-3.79575404e-01 9.23170637e-01 -6.06505374e-02 -5.46733893e+01] [-1.57888979e-01 -4.43940824e-05 9.87456869e-01 -3.18651444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:-54.68, Z:-31.87 [[ 9.12140925e-01 3.83150084e-01 1.45584838e-01 1.87488727e+02] [-3.78337178e-01 9.23686090e-01 -6.05391301e-02 -5.46835235e+01] [-1.57670262e-01 1.40061474e-04 9.87491807e-01 -3.18703883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.51, Y:-54.69, Z:-31.87 [[ 9.13260582e-01 3.80542890e-01 1.45403638e-01 1.87513308e+02] [-3.75711452e-01 9.24763092e-01 -6.04493875e-02 -5.46946326e+01] [-1.57467503e-01 5.76230840e-04 9.87524002e-01 -3.18745687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.54, Y:-54.71, Z:-31.88 [[ 9.13721189e-01 3.79320622e-01 1.45703309e-01 1.87538490e+02] [-3.74455718e-01 9.25264969e-01 -6.05611503e-02 -5.47051804e+01] [-1.57786261e-01 7.76569210e-04 9.87472983e-01 -3.18793030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:187.56, Y:-54.72, Z:-31.88 [[ 9.14159098e-01 3.78079550e-01 1.46181387e-01 1.87564070e+02] [-3.73171846e-01 9.25772610e-01 -6.07276604e-02 -5.47156594e+01] [-1.58290611e-01 9.63965073e-04 9.87392097e-01 -3.18824240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:-54.73, Z:-31.89 [[ 9.14294690e-01 3.77367381e-01 1.47170244e-01 1.87589920e+02] [-3.72388695e-01 9.26063026e-01 -6.11059095e-02 -5.47258959e+01] [-1.59348299e-01 1.06427332e-03 9.87221853e-01 -3.18880011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.62, Y:-54.74, Z:-31.89 [[ 9.14475516e-01 3.76659381e-01 1.47858858e-01 1.87615309e+02] [-3.71629801e-01 9.26351099e-01 -6.13590375e-02 -5.47359029e+01] [-1.60080673e-01 1.16257949e-03 9.87103250e-01 -3.18919987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:-54.75, Z:-31.90 [[ 9.14442883e-01 3.76802284e-01 1.47696485e-01 1.87640223e+02] [-3.71791131e-01 9.26293052e-01 -6.12579527e-02 -5.47460208e+01] [-1.59892365e-01 1.10465562e-03 9.87133837e-01 -3.18968311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:187.67, Y:-54.76, Z:-31.90 [[ 9.14514824e-01 3.76784771e-01 1.47295193e-01 1.87665243e+02] [-3.71803040e-01 9.26300192e-01 -6.10774436e-02 -5.47556644e+01] [-1.59452616e-01 1.09142691e-03 9.87204980e-01 -3.19008436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.69, Y:-54.77, Z:-31.91 [[ 9.14539266e-01 3.76960841e-01 1.46691701e-01 1.87690635e+02] [-3.72024394e-01 9.26228607e-01 -6.08146137e-02 -5.47653255e+01] [-1.58794778e-01 1.04446105e-03 9.87311059e-01 -3.19064677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:-54.78, Z:-31.91 [[ 9.14666676e-01 3.77120517e-01 1.45481912e-01 1.87715791e+02] [-3.72272731e-01 9.26163678e-01 -6.02814730e-02 -5.47756466e+01] [-1.57473443e-01 9.78505872e-04 9.87522738e-01 -3.19114744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.74, Y:-54.79, Z:-31.92 [[ 9.14758247e-01 3.77026855e-01 1.45148544e-01 1.87741362e+02] [-3.72205276e-01 9.26201827e-01 -6.01116332e-02 -5.47861727e+01] [-1.57100547e-01 9.62558138e-04 9.87582144e-01 -3.19162985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.77, Y:-54.80, Z:-31.92 [[ 9.14796445e-01 3.76866917e-01 1.45323055e-01 1.87766077e+02] [-3.72036836e-01 9.26266918e-01 -6.01513854e-02 -5.47959747e+01] [-1.57277005e-01 9.60744010e-04 9.87554060e-01 -3.19205623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45587156000002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:187.79, Y:-54.80, Z:-31.92 [[ 9.14686669e-01 3.76865244e-01 1.46016728e-01 1.87792623e+02] [-3.71991982e-01 9.26267614e-01 -6.04174864e-02 -5.48049936e+01] [-1.58019817e-01 9.46017504e-04 9.87435488e-01 -3.19229830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.82, Y:-54.82, Z:-31.93 [[ 9.14527877e-01 3.77115900e-01 1.46363794e-01 1.87818390e+02] [-3.72227585e-01 9.26165661e-01 -6.05292721e-02 -5.48153178e+01] [-1.58383671e-01 8.75065042e-04 9.87377257e-01 -3.19285579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:-54.83, Z:-31.93 [[ 9.14374167e-01 3.77465223e-01 1.46423662e-01 1.87842576e+02] [-3.72583012e-01 9.26023431e-01 -6.05186347e-02 -5.48253681e+01] [-1.58435421e-01 7.81707296e-04 9.87369032e-01 -3.19332339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.87, Y:-54.84, Z:-31.94 [[ 9.14192419e-01 3.77778609e-01 1.46749936e-01 1.87867485e+02] [-3.72880887e-01 9.25895681e-01 -6.06385456e-02 -5.48355077e+01] [-1.58783077e-01 7.15052512e-04 9.87313235e-01 -3.19378623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:187.89, Y:-54.85, Z:-31.94 [[ 9.13923334e-01 3.78400960e-01 1.46822521e-01 1.87893033e+02] [-3.73508442e-01 9.25641593e-01 -6.06554544e-02 -5.48459164e+01] [-1.58857115e-01 5.94984056e-04 9.87301404e-01 -3.19416014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:-54.86, Z:-31.95 [[ 9.13649626e-01 3.78193770e-01 1.49043060e-01 1.87917669e+02] [-3.73681285e-01 9.25723267e-01 -5.82986334e-02 -5.48574795e+01] [-1.60020808e-01 -2.43007744e-03 9.87110650e-01 -3.19478373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:-54.86, Z:-31.95 [[ 9.13552244e-01 3.79549646e-01 1.46165535e-01 1.87945049e+02] [-3.74207938e-01 9.25165296e-01 -6.35420630e-02 -5.48638759e+01] [-1.59344648e-01 3.35269077e-03 9.87217323e-01 -3.19515442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.97, Y:-54.87, Z:-31.96 [[ 9.13399509e-01 3.79548826e-01 1.47119086e-01 1.87969139e+02] [-3.74667143e-01 9.25171658e-01 -6.06789490e-02 -5.48741768e+01] [-1.59141032e-01 3.03434740e-04 9.87255813e-01 -3.19566310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:-54.88, Z:-31.96 [[ 9.13368247e-01 3.79391730e-01 1.47717163e-01 1.87993003e+02] [-3.74727610e-01 9.25235395e-01 -5.93184764e-02 -5.48845223e+01] [-1.59178087e-01 -1.17408686e-03 9.87249187e-01 -3.19619061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.02, Y:-54.89, Z:-31.97 [[ 9.13473899e-01 3.79835301e-01 1.45912919e-01 1.88019337e+02] [-3.74800033e-01 9.25052676e-01 -6.16642729e-02 -5.48931364e+01] [-1.58399404e-01 1.64053688e-03 9.87373758e-01 -3.19656352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.04, Y:-54.90, Z:-31.97 [[ 9.13210814e-01 3.80245716e-01 1.46489605e-01 1.88044076e+02] [-3.75427739e-01 9.24885498e-01 -6.03392790e-02 -5.49032493e+01] [-1.58429863e-01 1.06221063e-04 9.87370228e-01 -3.19701801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:-54.91, Z:-31.97 [[ 9.13043941e-01 3.80541587e-01 1.46761241e-01 1.88069824e+02] [-3.75711556e-01 9.24763807e-01 -6.04377990e-02 -5.49134328e+01] [-1.58718580e-01 4.24719293e-05 9.87323863e-01 -3.19745375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.10, Y:-54.92, Z:-31.98 [[ 9.12908933e-01 3.80454790e-01 1.47822302e-01 1.88095465e+02] [-3.75759021e-01 9.24798824e-01 -5.96011200e-02 -5.49245688e+01] [-1.59381422e-01 -1.13516859e-03 9.87216427e-01 -3.19794427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84587156000003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:188.12, Y:-54.93, Z:-31.98 [[ 9.12691515e-01 3.80979997e-01 1.47812183e-01 1.88121948e+02] [-3.75877334e-01 9.24582540e-01 -6.21559009e-02 -5.49331812e+01] [-1.60344718e-01 1.16991407e-03 9.87060384e-01 -3.19824264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:-54.94, Z:-31.99 [[ 9.12775933e-01 3.80497669e-01 1.48531548e-01 1.88146624e+02] [-3.75561409e-01 9.24781879e-01 -6.10909500e-02 -5.49430856e+01] [-1.60604248e-01 -2.03687269e-05 9.87018883e-01 -3.19876048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:-54.95, Z:-31.99 [[ 9.12935370e-01 3.80123964e-01 1.48508527e-01 1.88171330e+02] [-3.75186713e-01 9.24935550e-01 -6.10668441e-02 -5.49537379e+01] [-1.60573787e-01 3.16557527e-05 9.87023839e-01 -3.19925079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:-54.97, Z:-32.00 [[ 9.13318874e-01 3.79125041e-01 1.48703857e-01 1.88195073e+02] [-3.74163912e-01 9.25345431e-01 -6.11326497e-02 -5.49651026e+01] [-1.60779353e-01 1.93985877e-04 9.86990356e-01 -3.19973592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:-54.98, Z:-32.00 [[ 9.13362572e-01 3.79017822e-01 1.48708787e-01 1.88221089e+02] [-3.74057235e-01 9.25389351e-01 -6.11206544e-02 -5.49756345e+01] [-1.60779345e-01 1.99720328e-04 9.86990356e-01 -3.20022014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:-54.99, Z:-32.01 [[ 9.13587078e-01 3.78388776e-01 1.48931479e-01 1.88246463e+02] [-3.73408124e-01 9.25646719e-01 -6.11925135e-02 -5.49861484e+01] [-1.61012495e-01 2.92465419e-04 9.86952325e-01 -3.20069051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.27, Y:-55.00, Z:-32.01 [[ 9.13922385e-01 3.77646638e-01 1.48757827e-01 1.88271706e+02] [-3.72673438e-01 9.25949709e-01 -6.10871862e-02 -5.49960170e+01] [-1.60811637e-01 3.90856013e-04 9.86985038e-01 -3.20113713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.30, Y:-55.01, Z:-32.02 [[ 9.14737094e-01 3.76004880e-01 1.47906659e-01 1.88297226e+02] [-3.71069577e-01 9.26617445e-01 -6.07246154e-02 -5.50062673e+01] [-1.59885642e-01 6.63396681e-04 9.87135321e-01 -3.20167464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:188.32, Y:-55.02, Z:-32.02 [[ 9.15278637e-01 3.74871279e-01 1.47433176e-01 1.88322350e+02] [-3.69958288e-01 9.27076500e-01 -6.04981644e-02 -5.50173052e+01] [-1.59360857e-01 8.28551931e-04 9.87220052e-01 -3.20206557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.35, Y:-55.03, Z:-32.03 [[ 9.15813649e-01 3.73631288e-01 1.47258346e-01 1.88347553e+02] [-3.68719290e-01 9.27576754e-01 -6.03941256e-02 -5.50284817e+01] [-1.59158554e-01 1.01277165e-03 9.87252515e-01 -3.20256290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.37, Y:-55.04, Z:-32.03 [[ 9.16228627e-01 3.72555125e-01 1.47403466e-01 1.88371773e+02] [-3.67625046e-01 9.28009328e-01 -6.04194730e-02 -5.50393512e+01] [-1.59301375e-01 1.16884503e-03 9.87229308e-01 -3.20313700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:-55.05, Z:-32.04 [[ 9.16607385e-01 3.71235806e-01 1.48374118e-01 1.88396428e+02] [-3.66225133e-01 9.28537576e-01 -6.08039570e-02 -5.50520530e+01] [-1.60343550e-01 1.39502473e-03 9.87060282e-01 -3.20357575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.42, Y:-55.06, Z:-32.04 [[ 9.16737545e-01 3.70912044e-01 1.48379678e-01 1.88422121e+02] [-3.65902047e-01 9.28666913e-01 -6.07738099e-02 -5.50631369e+01] [-1.60337036e-01 1.42120533e-03 9.87061303e-01 -3.20387282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.45, Y:-55.07, Z:-32.04 [[ 9.16751341e-01 3.70785216e-01 1.48611243e-01 1.88447621e+02] [-3.65763405e-01 9.28717571e-01 -6.08342458e-02 -5.50728100e+01] [-1.60574312e-01 1.41332212e-03 9.87022742e-01 -3.20436030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:188.47, Y:-55.08, Z:-32.05 [[ 9.16447779e-01 3.71473354e-01 1.48764969e-01 1.88473051e+02] [-3.66451954e-01 9.28442729e-01 -6.08856740e-02 -5.50841180e+01] [-1.60737159e-01 1.28332733e-03 9.86996413e-01 -3.20474704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.50, Y:-55.10, Z:-32.05 [[ 9.16185358e-01 3.72120928e-01 1.48762914e-01 1.88497877e+02] [-3.67113801e-01 9.28183561e-01 -6.08501001e-02 -5.50954176e+01] [-1.60722887e-01 1.13705196e-03 9.86998916e-01 -3.20523031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:-55.11, Z:-32.06 [[ 9.15890602e-01 3.72965878e-01 1.48461644e-01 1.88522549e+02] [-3.67992221e-01 9.27844547e-01 -6.07142621e-02 -5.51060019e+01] [-1.60393675e-01 9.74892075e-04 9.87052642e-01 -3.20578175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:-55.12, Z:-32.06 [[ 9.15110668e-01 3.75209388e-01 1.47615650e-01 1.88547891e+02] [-3.70323987e-01 9.26939910e-01 -6.03535296e-02 -5.51160772e+01] [-1.59476048e-01 5.64542904e-04 9.87201637e-01 -3.20632252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:188.57, Y:-55.13, Z:-32.07 [[ 9.14715797e-01 3.76294191e-01 1.47301368e-01 1.88572999e+02] [-3.71445584e-01 9.26500162e-01 -6.02131883e-02 -5.51259557e+01] [-1.59132615e-01 3.63511697e-04 9.87257149e-01 -3.20672000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.60, Y:-55.14, Z:-32.07 [[ 9.14471253e-01 3.76830242e-01 1.47449298e-01 1.88597329e+02] [-3.71982554e-01 9.26282304e-01 -6.02500860e-02 -5.51356880e+01] [-1.59283730e-01 2.48405364e-04 9.87232815e-01 -3.20735086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.62, Y:-55.15, Z:-32.08 [[ 9.14569114e-01 3.76756523e-01 1.47030126e-01 1.88623084e+02] [-3.71937669e-01 9.26312291e-01 -6.00658780e-02 -5.51463558e+01] [-1.58826024e-01 2.48354749e-04 9.87306554e-01 -3.20785702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:-55.16, Z:-32.08 [[ 9.14727381e-01 3.76348198e-01 1.47091309e-01 1.88648761e+02] [-3.71525275e-01 9.26478252e-01 -6.00584693e-02 -5.51564962e+01] [-1.58879795e-01 2.88987368e-04 9.87297892e-01 -3.20829259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:188.67, Y:-55.17, Z:-32.09 [[ 9.14823586e-01 3.76058038e-01 1.47235045e-01 1.88674371e+02] [-3.71227080e-01 9.26596059e-01 -6.00849296e-02 -5.51674222e+01] [-1.59022834e-01 3.09474882e-04 9.87274857e-01 -3.20864114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.70, Y:-55.18, Z:-32.09 [[ 9.14836197e-01 3.75549301e-01 1.48450175e-01 1.88698219e+02] [-3.70636527e-01 9.26802344e-01 -6.05473329e-02 -5.51778685e+01] [-1.60322479e-01 3.69834659e-04 9.87064621e-01 -3.20916600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:188.72, Y:-55.19, Z:-32.10 [[ 9.14814214e-01 3.75568775e-01 1.48536356e-01 1.88723355e+02] [-3.70654030e-01 9.26794462e-01 -6.05608349e-02 -5.51884163e+01] [-1.60407431e-01 3.46313575e-04 9.87050828e-01 -3.20953479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.75, Y:-55.20, Z:-32.10 [[ 9.14663780e-01 3.75661146e-01 1.49227588e-01 1.88749001e+02] [-3.70706775e-01 9.26757041e-01 -6.08101502e-02 -5.51984757e+01] [-1.61141728e-01 3.01164027e-04 9.86931230e-01 -3.21014295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.77, Y:-55.21, Z:-32.11 [[ 9.14371519e-01 3.76230452e-01 1.49584001e-01 1.88774193e+02] [-3.71265537e-01 9.26526103e-01 -6.09202926e-02 -5.52077564e+01] [-1.61513550e-01 1.68396000e-04 9.86870480e-01 -3.21058685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:188.80, Y:-55.22, Z:-32.11 [[ 9.14232810e-01 3.76422472e-01 1.49948300e-01 1.88799959e+02] [-3.71438051e-01 9.26448114e-01 -6.10546174e-02 -5.52182996e+01] [-1.61901650e-01 1.21630126e-04 9.86806891e-01 -3.21102249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:-55.23, Z:-32.12 [[ 9.14175395e-01 3.76518991e-01 1.50055979e-01 1.88824361e+02] [-3.71533870e-01 9.26408897e-01 -6.10666822e-02 -5.52280690e+01] [-1.62005959e-01 7.47798758e-05 9.86789777e-01 -3.21154432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:-55.24, Z:-32.12 [[ 9.14065597e-01 3.76727545e-01 1.50201338e-01 1.88849749e+02] [-3.71737825e-01 9.26324110e-01 -6.11116413e-02 -5.52388692e+01] [-1.62157559e-01 2.45300922e-05 9.86764878e-01 -3.21203070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:-55.25, Z:-32.12 [[ 9.14164869e-01 3.76603659e-01 1.49907563e-01 1.88875466e+02] [-3.71635034e-01 9.26374483e-01 -6.09730912e-02 -5.52489802e+01] [-1.61833230e-01 2.85556675e-05 9.86818121e-01 -3.21247940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.90, Y:-55.26, Z:-32.13 [[ 9.14182438e-01 3.76611084e-01 1.49781713e-01 1.88900092e+02] [-3.71656473e-01 9.26371465e-01 -6.08882117e-02 -5.52588413e+01] [-1.61684680e-01 -4.40930570e-06 9.86842472e-01 -3.21290954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:-55.27, Z:-32.13 [[ 9.14320654e-01 3.76194910e-01 1.49983773e-01 1.88925629e+02] [-3.71223451e-01 9.26540548e-01 -6.09570573e-02 -5.52696038e+01] [-1.61897782e-01 5.68027060e-05 9.86807532e-01 -3.21340177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.95, Y:-55.28, Z:-32.14 [[ 9.14405617e-01 3.75810890e-01 1.50427863e-01 1.88951152e+02] [-3.70810004e-01 9.26696372e-01 -6.11046229e-02 -5.52807660e+01] [-1.62364738e-01 9.42539034e-05 9.86730806e-01 -3.21387847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:-55.29, Z:-32.14 [[ 9.14664784e-01 3.75152897e-01 1.50494643e-01 1.88976647e+02] [-3.70144137e-01 9.26962929e-01 -6.10986584e-02 -5.52925080e+01] [-1.62424294e-01 1.80081486e-04 9.86720992e-01 -3.21434232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:-55.30, Z:-32.15 [[ 9.14774878e-01 3.74707283e-01 1.50935004e-01 1.89002334e+02] [-3.69668044e-01 9.27143138e-01 -6.12465396e-02 -5.53029649e+01] [-1.62887878e-01 2.30948175e-04 9.86644559e-01 -3.21486893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:-55.31, Z:-32.15 [[ 9.15000817e-01 3.74042093e-01 1.51215136e-01 1.89027419e+02] [-3.68980497e-01 9.27411673e-01 -6.13268440e-02 -5.53137656e+01] [-1.63177504e-01 3.18676181e-04 9.86596676e-01 -3.21538548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:-55.33, Z:-32.16 [[ 9.15711145e-01 3.72346505e-01 1.51099899e-01 1.89051088e+02] [-3.67275396e-01 9.28093602e-01 -6.12458079e-02 -5.53253584e+01] [-1.63039512e-01 5.88193819e-04 9.86619365e-01 -3.21586082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:-55.34, Z:-32.16 [[ 9.16255990e-01 3.71088185e-01 1.50892413e-01 1.89075729e+02] [-3.66016397e-01 9.28597287e-01 -6.11479790e-02 -5.53366954e+01] [-1.62809578e-01 7.98104783e-04 9.86657187e-01 -3.21638130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:-55.35, Z:-32.17 [[ 9.16918437e-01 3.69647309e-01 1.50404275e-01 1.89100728e+02] [-3.64594639e-01 9.29171581e-01 -6.09173355e-02 -5.53480193e+01] [-1.62269308e-01 1.01963547e-03 9.86745982e-01 -3.21690936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:189.12, Y:-55.36, Z:-32.17 [[ 9.18278206e-01 3.66576399e-01 1.49622460e-01 1.89124804e+02] [-3.61541411e-01 9.30386707e-01 -6.05671801e-02 -5.53614401e+01] [-1.61409247e-01 1.52280614e-03 9.86886385e-01 -3.21731828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.15, Y:-55.37, Z:-32.18 [[ 9.18859635e-01 3.65180214e-01 1.49466996e-01 1.89149500e+02] [-3.60139379e-01 9.30935192e-01 -6.04921094e-02 -5.53737784e+01] [-1.61234608e-01 1.75480624e-03 9.86914546e-01 -3.21784822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.17, Y:-55.39, Z:-32.18 [[ 9.19338925e-01 3.63885997e-01 1.49676057e-01 1.89173662e+02] [-3.58815894e-01 9.31441403e-01 -6.05645682e-02 -5.53857991e+01] [-1.61453075e-01 1.97321668e-03 9.86878418e-01 -3.21830205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:-55.40, Z:-32.19 [[ 9.19667071e-01 3.63004314e-01 1.49801021e-01 1.89199011e+02] [-3.57916406e-01 9.31785055e-01 -6.06007996e-02 -5.53981109e+01] [-1.61580705e-01 2.11631679e-03 9.86857232e-01 -3.21873195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.22, Y:-55.41, Z:-32.19 [[ 9.20031582e-01 3.62069505e-01 1.49825105e-01 1.89222185e+02] [-3.56969588e-01 9.32148337e-01 -6.05986039e-02 -5.54122036e+01] [-1.61600129e-01 2.26962327e-03 9.86853711e-01 -3.21918894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:-55.42, Z:-32.20 [[ 9.20001294e-01 3.61972377e-01 1.50245187e-01 1.89246386e+02] [-3.56844661e-01 9.32186033e-01 -6.07543224e-02 -5.54245086e+01] [-1.62047851e-01 2.27986245e-03 9.86780267e-01 -3.21964708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.27, Y:-55.44, Z:-32.20 [[ 9.19820602e-01 3.62145366e-01 1.50933079e-01 1.89271205e+02] [-3.56974545e-01 9.32118918e-01 -6.10204565e-02 -5.54365580e+01] [-1.62785854e-01 2.24860589e-03 9.86658862e-01 -3.22009119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.30, Y:-55.45, Z:-32.21 [[ 9.19530515e-01 3.62722763e-01 1.51313679e-01 1.89296528e+02] [-3.57535408e-01 9.31894638e-01 -6.11622147e-02 -5.54488589e+01] [-1.63193334e-01 2.14052478e-03 9.86591787e-01 -3.22056448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.32, Y:-55.46, Z:-32.21 [[ 9.19096072e-01 3.63820491e-01 1.51317749e-01 1.89320262e+02] [-3.58649051e-01 9.31467066e-01 -6.11552303e-02 -5.54634132e+01] [-1.63197026e-01 1.93756475e-03 9.86591596e-01 -3.22102202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.35, Y:-55.48, Z:-32.22 [[ 9.18719536e-01 3.64740867e-01 1.51388617e-01 1.89345304e+02] [-3.59578732e-01 9.31107397e-01 -6.11731157e-02 -5.54758919e+01] [-1.63271396e-01 1.76480950e-03 9.86579615e-01 -3.22150890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.37, Y:-55.49, Z:-32.22 [[ 9.18189901e-01 3.65985777e-01 1.51597218e-01 1.89370541e+02] [-3.60828100e-01 9.30619179e-01 -6.12456156e-02 -5.54877643e+01] [-1.63494303e-01 1.53456946e-03 9.86543085e-01 -3.22198567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:-55.50, Z:-32.22 [[ 9.16847760e-01 3.69325085e-01 1.51621789e-01 1.89393371e+02] [-3.64213149e-01 9.29299802e-01 -6.12426387e-02 -5.55009931e+01] [-1.63520541e-01 9.27526722e-04 9.86539494e-01 -3.22248330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.42, Y:-55.51, Z:-32.23 [[ 9.16301205e-01 3.70864518e-01 1.51167490e-01 1.89416909e+02] [-3.65807283e-01 9.28686765e-01 -6.10403419e-02 -5.55127613e+01] [-1.63024945e-01 6.33169907e-04 9.86621744e-01 -3.22291765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:-55.52, Z:-32.23 [[ 9.15793926e-01 3.72137585e-01 1.51112883e-01 1.89441698e+02] [-3.67103624e-01 9.28177496e-01 -6.10038214e-02 -5.55248027e+01] [-1.62961392e-01 3.92842050e-04 9.86632368e-01 -3.22339567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:189.46, Y:-55.54, Z:-32.24 [[ 9.15039861e-01 3.74174603e-01 1.50649990e-01 1.89464693e+02] [-3.69201041e-01 9.27358273e-01 -6.08048108e-02 -5.55382641e+01] [-1.62458131e-01 1.86924296e-05 9.86715438e-01 -3.22379249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.49, Y:-55.55, Z:-32.24 [[ 9.14864551e-01 3.74570844e-01 1.50730010e-01 1.89489122e+02] [-3.69600954e-01 9.27198294e-01 -6.08149461e-02 -5.55498645e+01] [-1.62536114e-01 -7.25171039e-05 9.86702593e-01 -3.22438398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.51, Y:-55.56, Z:-32.25 [[ 9.14924966e-01 3.74508516e-01 1.50518029e-01 1.89514238e+02] [-3.69553914e-01 9.27223471e-01 -6.07168755e-02 -5.55621667e+01] [-1.62302836e-01 -7.31414945e-05 9.86740991e-01 -3.22485340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.54, Y:-55.58, Z:-32.25 [[ 9.15008653e-01 3.74293376e-01 1.50544457e-01 1.89538248e+02] [-3.69336194e-01 9.27310340e-01 -6.07149820e-02 -5.55757020e+01] [-1.62326647e-01 -4.67829116e-05 9.86737076e-01 -3.22534745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.56, Y:-55.59, Z:-32.26 [[ 9.14763487e-01 3.74780505e-01 1.50822200e-01 1.89563811e+02] [-3.69813584e-01 9.27113560e-01 -6.08141492e-02 -5.55873245e+01] [-1.62621264e-01 -1.45535047e-04 9.86688554e-01 -3.22576999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:-55.60, Z:-32.26 [[ 9.13653136e-01 3.76843065e-01 1.52404892e-01 1.89588660e+02] [-3.71801279e-01 9.26276969e-01 -6.14392872e-02 -5.55997355e+01] [-1.64322111e-01 -5.30136236e-04 9.86406591e-01 -3.22624182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.61, Y:-55.61, Z:-32.27 [[ 9.12998866e-01 3.78341365e-01 1.52613506e-01 1.89612501e+02] [-3.73308588e-01 9.25665788e-01 -6.15105504e-02 -5.56105962e+01] [-1.64541087e-01 -8.12869544e-04 9.86369895e-01 -3.22666195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.64, Y:-55.62, Z:-32.27 [[ 9.12295209e-01 3.79871560e-01 1.53019770e-01 1.89637662e+02] [-3.74835661e-01 9.25038580e-01 -6.16591608e-02 -5.56214421e+01] [-1.64971752e-01 -1.10590953e-03 9.86297672e-01 -3.22717106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.66, Y:-55.63, Z:-32.28 [[ 9.11609688e-01 3.81444934e-01 1.53191185e-01 1.89663124e+02] [-3.76421861e-01 9.24390497e-01 -6.17154113e-02 -5.56324032e+01] [-1.65149506e-01 -1.40414401e-03 9.86267544e-01 -3.22760873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.69, Y:-55.64, Z:-32.28 [[ 9.10490785e-01 3.84108816e-01 1.53189256e-01 1.89687855e+02] [-3.79125438e-01 9.23285877e-01 -6.17016346e-02 -5.56428605e+01] [-1.65137618e-01 -1.89917381e-03 9.86268706e-01 -3.22808538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:-55.65, Z:-32.29 [[ 9.10217109e-01 3.84791790e-01 1.53101576e-01 1.89712970e+02] [-3.79826242e-01 9.23001156e-01 -6.16513781e-02 -5.56525343e+01] [-1.65035876e-01 -2.03585702e-03 9.86285463e-01 -3.22857507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:189.74, Y:-55.66, Z:-32.29 [[ 9.09911975e-01 3.85551365e-01 1.53004386e-01 1.89738450e+02] [-3.80606565e-01 9.22683768e-01 -6.15898328e-02 -5.56630320e+01] [-1.64920707e-01 -2.19314731e-03 9.86304390e-01 -3.22895781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:189.76, Y:-55.67, Z:-32.29 [[ 9.09878888e-01 3.85597566e-01 1.53084705e-01 1.89764142e+02] [-3.80650294e-01 9.22664410e-01 -6.16095800e-02 -5.56727298e+01] [-1.65002313e-01 -2.21448177e-03 9.86290694e-01 -3.22946698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:189.79, Y:-55.68, Z:-32.30 [[ 9.09901756e-01 3.85541822e-01 1.53089185e-01 1.89790238e+02] [-3.80595640e-01 9.22687699e-01 -6.15984457e-02 -5.56830988e+01] [-1.65002285e-01 -2.21654242e-03 9.86290694e-01 -3.22995133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:-55.69, Z:-32.31 [[ 9.10217547e-01 3.85071389e-01 1.52394364e-01 1.89814223e+02] [-3.80165480e-01 9.22884328e-01 -6.13084323e-02 -5.56930986e+01] [-1.64250494e-01 -2.13106590e-03 9.86416359e-01 -3.23055562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:-55.70, Z:-32.31 [[ 9.10481862e-01 3.84554930e-01 1.52119311e-01 1.89839743e+02] [-3.79662135e-01 9.23099838e-01 -6.11829351e-02 -5.57034360e+01] [-1.63949511e-01 -2.04798980e-03 9.86466605e-01 -3.23110106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.86, Y:-55.71, Z:-32.32 [[ 9.10750254e-01 3.84013815e-01 1.51879439e-01 1.89864973e+02] [-3.79131122e-01 9.23325269e-01 -6.10740530e-02 -5.57134586e+01] [-1.63687404e-01 -1.95901306e-03 9.86510312e-01 -3.23161505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:-55.72, Z:-32.32 [[ 9.11162074e-01 3.83018867e-01 1.51921766e-01 1.89890428e+02] [-3.78121787e-01 9.23738780e-01 -6.10784742e-02 -5.57238880e+01] [-1.63730235e-01 -1.79254047e-03 9.86503521e-01 -3.23208692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.92, Y:-55.73, Z:-32.33 [[ 9.11451473e-01 3.82205195e-01 1.52234692e-01 1.89915712e+02] [-3.77278611e-01 9.24075986e-01 -6.11916769e-02 -5.57345096e+01] [-1.64064200e-01 -1.66164923e-03 9.86448264e-01 -3.23263012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.94, Y:-55.75, Z:-32.33 [[ 9.11870893e-01 3.81057501e-01 1.52599660e-01 1.89941385e+02] [-3.76093267e-01 9.24550171e-01 -6.13256542e-02 -5.57454782e+01] [-1.64454642e-01 -1.47062559e-03 9.86383550e-01 -3.23309247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.97, Y:-55.76, Z:-32.34 [[ 9.12519632e-01 3.79481245e-01 1.52649620e-01 1.89965947e+02] [-3.74493977e-01 9.25198653e-01 -6.13328147e-02 -5.57561422e+01] [-1.64505875e-01 -1.19896568e-03 9.86375375e-01 -3.23354806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:-55.77, Z:-32.34 [[ 9.14081257e-01 3.75674093e-01 1.52723384e-01 1.89990500e+02] [-3.70631634e-01 9.26751691e-01 -6.13473244e-02 -5.57675812e+01] [-1.64583255e-01 -5.27678155e-04 9.86363054e-01 -3.23400685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:-55.78, Z:-32.35 [[ 9.14953127e-01 3.73453949e-01 1.52947454e-01 1.90016028e+02] [-3.68368110e-01 9.27648709e-01 -6.14231808e-02 -5.57787404e+01] [-1.64820237e-01 -1.41633087e-04 9.86323613e-01 -3.23450492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:190.04, Y:-55.79, Z:-32.35 [[ 9.15815370e-01 3.71368993e-01 1.52863594e-01 1.90041901e+02] [-3.66262022e-01 9.28485338e-01 -6.13767775e-02 -5.57900499e+01] [-1.64725038e-01 2.21666980e-04 9.86339502e-01 -3.23483519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:190.07, Y:-55.80, Z:-32.35 [[ 9.16881378e-01 3.68319227e-01 1.53848906e-01 1.90068192e+02] [-3.63104504e-01 9.29699069e-01 -6.17637439e-02 -5.58012738e+01] [-1.65781959e-01 7.66796039e-04 9.86162134e-01 -3.23531184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:190.09, Y:-55.81, Z:-32.36 [[ 9.17227283e-01 3.67423454e-01 1.53928936e-01 1.90093847e+02] [-3.62192197e-01 9.30053309e-01 -6.17871766e-02 -5.58117487e+01] [-1.65864174e-01 9.21024617e-04 9.86148177e-01 -3.23583486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:-55.82, Z:-32.36 [[ 9.17550236e-01 3.66619170e-01 1.53921888e-01 1.90119393e+02] [-3.61378988e-01 9.30370501e-01 -6.17734441e-02 -5.58232093e+01] [-1.65851713e-01 1.05610207e-03 9.86150138e-01 -3.23646062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.14, Y:-55.84, Z:-32.37 [[ 9.18101965e-01 3.65243901e-01 1.53901513e-01 1.90144850e+02] [-3.59987320e-01 9.30910958e-01 -6.17569251e-02 -5.58369877e+01] [-1.65824945e-01 1.29656105e-03 9.86154352e-01 -3.23696660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:-55.85, Z:-32.37 [[ 9.18307116e-01 3.64892381e-01 1.53510885e-01 1.90170533e+02] [-3.59659183e-01 9.31048727e-01 -6.15917260e-02 -5.58489310e+01] [-1.65400465e-01 1.34852095e-03 9.86225566e-01 -3.23745709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.33587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.20, Y:-55.86, Z:-32.38 [[ 9.18577831e-01 3.64513707e-01 1.52789154e-01 1.90195633e+02] [-3.59326140e-01 9.31196967e-01 -6.12938320e-02 -5.58602233e+01] [-1.64619238e-01 1.40201847e-03 9.86356194e-01 -3.23792794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36587156000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:190.22, Y:-55.87, Z:-32.38 [[ 9.18698774e-01 3.64417056e-01 1.52291734e-01 1.90222176e+02] [-3.59263878e-01 9.31234791e-01 -6.10837942e-02 -5.58715242e+01] [-1.64079338e-01 1.40468798e-03 9.86446145e-01 -3.23830298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:190.25, Y:-55.88, Z:-32.39 [[ 9.18433833e-01 3.65202986e-01 1.52006818e-01 1.90248013e+02] [-3.60081271e-01 9.30927068e-01 -6.09612291e-02 -5.58839456e+01] [-1.63770484e-01 1.25404696e-03 9.86497671e-01 -3.23881187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.27, Y:-55.90, Z:-32.39 [[ 9.18063752e-01 3.66154265e-01 1.51953946e-01 1.90274182e+02] [-3.61050453e-01 9.30553543e-01 -6.09317151e-02 -5.58956360e+01] [-1.63711690e-01 1.07615781e-03 9.86507640e-01 -3.23944039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:-55.91, Z:-32.40 [[ 9.17691715e-01 3.67078423e-01 1.51971535e-01 1.90300102e+02] [-3.61987380e-01 9.30189558e-01 -6.09304709e-02 -5.59071062e+01] [-1.63728597e-01 9.03610443e-04 9.86505008e-01 -3.23995021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:-55.92, Z:-32.40 [[ 9.16649343e-01 3.69528128e-01 1.52325128e-01 1.90323721e+02] [-3.64448147e-01 9.29219431e-01 -6.10638688e-02 -5.59206237e+01] [-1.64108286e-01 4.59544398e-04 9.86442223e-01 -3.24043072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:-55.93, Z:-32.41 [[ 9.16135760e-01 3.70803338e-01 1.52315966e-01 1.90349486e+02] [-3.65743229e-01 9.28711385e-01 -6.10496081e-02 -5.59321300e+01] [-1.64094970e-01 2.21195936e-04 9.86444520e-01 -3.24090273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:-55.94, Z:-32.41 [[ 9.15403974e-01 3.72541859e-01 1.52473366e-01 1.90375451e+02] [-3.67496539e-01 9.28015384e-01 -6.11043378e-02 -5.59433453e+01] [-1.64261553e-01 -9.82807433e-05 9.86416815e-01 -3.24137975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:-55.95, Z:-32.42 [[ 9.13850367e-01 3.76230095e-01 1.52736449e-01 1.90401077e+02] [-3.71219710e-01 9.26525943e-01 -6.12013368e-02 -5.59537880e+01] [-1.64540068e-01 -7.69916452e-04 9.86370100e-01 -3.24185814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:-55.96, Z:-32.42 [[ 9.13055427e-01 3.78071546e-01 1.52943429e-01 1.90427269e+02] [-3.73075062e-01 9.25775710e-01 -6.12726135e-02 -5.59644108e+01] [-1.64756744e-01 -1.11408709e-03 9.86333602e-01 -3.24236324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:190.45, Y:-55.98, Z:-32.43 [[ 9.12335936e-01 3.80058819e-01 1.52310323e-01 1.90454063e+02] [-3.75132754e-01 9.24961145e-01 -6.10106300e-02 -5.59751530e+01] [-1.64068759e-01 -1.47440072e-03 9.86447803e-01 -3.24268111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:-55.98, Z:-32.43 [[ 9.10622927e-01 3.83942135e-01 1.52821211e-01 1.90478960e+02] [-3.79038310e-01 9.23354562e-01 -6.12071228e-02 -5.59848724e+01] [-1.64608156e-01 -2.18848423e-03 9.86356612e-01 -3.24333395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.50, Y:-56.00, Z:-32.44 [[ 9.09931115e-01 3.85662000e-01 1.52611230e-01 1.90504562e+02] [-3.80798749e-01 9.22636714e-01 -6.11048789e-02 -5.59954962e+01] [-1.64370554e-01 -2.51293479e-03 9.86395461e-01 -3.24380557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.53, Y:-56.01, Z:-32.44 [[ 9.09328558e-01 3.87047263e-01 1.52695741e-01 1.90529583e+02] [-3.82200034e-01 9.22055697e-01 -6.11263118e-02 -5.60054678e+01] [-1.64452749e-01 -2.77641631e-03 9.86381055e-01 -3.24426186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.55, Y:-56.02, Z:-32.45 [[ 9.08260071e-01 3.89497315e-01 1.52825016e-01 1.90554972e+02] [-3.84678642e-01 9.21021916e-01 -6.11634988e-02 -5.60151304e+01] [-1.64578207e-01 -3.23615573e-03 9.86358728e-01 -3.24471168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:190.58, Y:-56.02, Z:-32.45 [[ 9.07903027e-01 3.90404682e-01 1.52631185e-01 1.90581839e+02] [-3.85613095e-01 9.20637046e-01 -6.10734818e-02 -5.60247753e+01] [-1.64361297e-01 -3.40778462e-03 9.86394318e-01 -3.24513334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.61, Y:-56.03, Z:-32.46 [[ 9.07500107e-01 3.91167740e-01 1.53073039e-01 1.90607902e+02] [-3.86360397e-01 9.20312498e-01 -6.12417343e-02 -5.60336000e+01] [-1.64830822e-01 -3.56447967e-03 9.86315413e-01 -3.24565440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:-56.04, Z:-32.46 [[ 9.06916579e-01 3.92192453e-01 1.53907107e-01 1.90634383e+02] [-3.87348695e-01 9.19875415e-01 -6.15646837e-02 -5.60409846e+01] [-1.65720569e-01 -3.78168487e-03 9.86165499e-01 -3.24614162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:-56.05, Z:-32.47 [[ 9.06679466e-01 3.92724641e-01 1.53947079e-01 1.90660873e+02] [-3.87888075e-01 9.19647873e-01 -6.15680941e-02 -5.60499234e+01] [-1.65756411e-01 -3.89170945e-03 9.86159047e-01 -3.24664920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.69, Y:-56.06, Z:-32.47 [[ 9.06534214e-01 3.93163517e-01 1.53682034e-01 1.90687382e+02] [-3.88352076e-01 9.19459969e-01 -6.14494172e-02 -5.60584966e+01] [-1.65464148e-01 -3.97673800e-03 9.86207788e-01 -3.24715641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.71, Y:-56.07, Z:-32.48 [[ 9.06500352e-01 3.93446844e-01 1.53155779e-01 1.90713480e+02] [-3.88674605e-01 9.19338552e-01 -6.12264558e-02 -5.60668136e+01] [-1.64891367e-01 -4.02595792e-03 9.86303518e-01 -3.24763043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.74, Y:-56.08, Z:-32.48 [[ 9.06556170e-01 3.93521331e-01 1.52633129e-01 1.90740130e+02] [-3.88784948e-01 9.19306621e-01 -6.10049242e-02 -5.60754446e+01] [-1.64323385e-01 -4.03707269e-03 9.86398260e-01 -3.24816728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:-56.08, Z:-32.49 [[ 9.07112733e-01 3.92600797e-01 1.51694114e-01 1.90766950e+02] [-3.87912131e-01 9.19700894e-01 -6.06171898e-02 -5.60820957e+01] [-1.63311570e-01 -3.85736258e-03 9.86567003e-01 -3.24869802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.79, Y:-56.09, Z:-32.49 [[ 9.07567942e-01 3.91595646e-01 1.51569394e-01 1.90793824e+02] [-3.86902879e-01 9.20130029e-01 -6.05548662e-02 -5.60900407e+01] [-1.63176573e-01 -3.68497958e-03 9.86589999e-01 -3.24919058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:190.82, Y:-56.10, Z:-32.50 [[ 9.08173602e-01 3.90204842e-01 1.51528515e-01 1.90819358e+02] [-3.85497454e-01 9.20721624e-01 -6.05260638e-02 -5.60978306e+01] [-1.63133143e-01 -3.44568329e-03 9.86598046e-01 -3.24951347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:-56.11, Z:-32.50 [[ 9.09393274e-01 3.86724262e-01 1.53128110e-01 1.90846222e+02] [-3.81869791e-01 9.22190942e-01 -6.11500510e-02 -5.61053333e+01] [-1.64861564e-01 -2.86555423e-03 9.86312554e-01 -3.25007784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:-56.11, Z:-32.51 [[ 9.10145088e-01 3.84713891e-01 1.53724237e-01 1.90871283e+02] [-3.79794975e-01 9.23032423e-01 -6.13752598e-02 -5.61138774e+01] [-1.65504370e-01 -2.52330131e-03 9.86205829e-01 -3.25056782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.90, Y:-56.12, Z:-32.51 [[ 9.10971605e-01 3.82624877e-01 1.54042002e-01 1.90897287e+02] [-3.77658336e-01 9.23901254e-01 -6.14870178e-02 -5.61229219e+01] [-1.65846061e-01 -2.16231875e-03 9.86149283e-01 -3.25103052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:-56.13, Z:-32.51 [[ 9.12592606e-01 3.78859524e-01 1.53753686e-01 1.90923741e+02] [-3.73860328e-01 9.25453001e-01 -6.13612114e-02 -5.61305995e+01] [-1.65539090e-01 -1.48461563e-03 9.86202112e-01 -3.25147455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.95, Y:-56.14, Z:-32.52 [[ 9.13331681e-01 3.76974957e-01 1.53997151e-01 1.90949989e+02] [-3.71935381e-01 9.26222729e-01 -6.14453366e-02 -5.61389410e+01] [-1.65799015e-01 -1.15701664e-03 9.86158886e-01 -3.25195730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.98, Y:-56.15, Z:-32.52 [[ 9.14879344e-01 3.73242059e-01 1.53903056e-01 1.90975592e+02] [-3.68158302e-01 9.27733865e-01 -6.13949622e-02 -5.61457370e+01] [-1.65696259e-01 -4.91705090e-04 9.86176712e-01 -3.25246861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:-56.16, Z:-32.53 [[ 9.15754682e-01 3.71380056e-01 1.53199927e-01 1.91001711e+02] [-3.66319561e-01 9.28480924e-01 -6.10995351e-02 -5.61552379e+01] [-1.64934358e-01 -1.67944598e-04 9.86304532e-01 -3.25299107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:-56.16, Z:-32.53 [[ 9.16638656e-01 3.69467344e-01 1.52536735e-01 1.91027998e+02] [-3.64426633e-01 9.29243701e-01 -6.08224832e-02 -5.61647165e+01] [-1.64215722e-01 1.63790368e-04 9.86424437e-01 -3.25349871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:191.05, Y:-56.17, Z:-32.54 [[ 9.18455321e-01 3.65449704e-01 1.51282308e-01 1.91054065e+02] [-3.60439280e-01 9.30830683e-01 -6.03138814e-02 -5.61727415e+01] [-1.62859905e-01 8.67519035e-04 9.86648822e-01 -3.25388158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:191.08, Y:-56.18, Z:-32.54 [[ 9.19128094e-01 3.63752146e-01 1.51287553e-01 1.91080910e+02] [-3.58720293e-01 9.31495054e-01 -6.03051923e-02 -5.61830085e+01] [-1.62859750e-01 1.15828112e-03 9.86648549e-01 -3.25439310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:-56.19, Z:-32.55 [[ 9.19692330e-01 3.62174243e-01 1.51643779e-01 1.91106384e+02] [-3.57098572e-01 9.32109309e-01 -6.04387833e-02 -5.61933482e+01] [-1.63237949e-01 1.43330842e-03 9.86585687e-01 -3.25501821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41587156000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:191.13, Y:-56.20, Z:-32.55 [[ 9.20217043e-01 3.60932090e-01 1.51421994e-01 1.91133108e+02] [-3.55856395e-01 9.32590657e-01 -6.03398160e-02 -5.62036581e+01] [-1.62993313e-01 1.64124207e-03 9.86625809e-01 -3.25531329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:-56.21, Z:-32.56 [[ 9.20485726e-01 3.59556092e-01 1.53053735e-01 1.91159382e+02] [-3.54352133e-01 9.33121544e-01 -6.09815579e-02 -5.62126568e+01] [-1.64744028e-01 1.89773632e-03 9.86334529e-01 -3.25586543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:-56.22, Z:-32.56 [[ 9.20487564e-01 3.59288289e-01 1.53670328e-01 1.91186326e+02] [-3.54040088e-01 9.33224596e-01 -6.12165701e-02 -5.62230874e+01] [-1.65403326e-01 1.94363506e-03 9.86224093e-01 -3.25633823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.21, Y:-56.23, Z:-32.57 [[ 9.20374406e-01 3.59406907e-01 1.54070205e-01 1.91211677e+02] [-3.54134228e-01 9.33178970e-01 -6.13674020e-02 -5.62327060e+01] [-1.65830944e-01 1.91945298e-03 9.86152328e-01 -3.25679354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.24, Y:-56.24, Z:-32.57 [[ 9.19849621e-01 3.60851460e-01 1.53827498e-01 1.91237028e+02] [-3.55617265e-01 9.32621848e-01 -6.12604989e-02 -5.62414635e+01] [-1.65568826e-01 1.64673249e-03 9.86196863e-01 -3.25726571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:-56.25, Z:-32.58 [[ 9.19380381e-01 3.62057713e-01 1.53798334e-01 1.91263001e+02] [-3.56845793e-01 9.32154615e-01 -6.12278837e-02 -5.62507569e+01] [-1.65531854e-01 1.40942664e-03 9.86203437e-01 -3.25775352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:-56.26, Z:-32.58 [[ 9.19025100e-01 3.63149481e-01 1.53347059e-01 1.91289103e+02] [-3.57985420e-01 9.31730122e-01 -6.10362108e-02 -5.62602412e+01] [-1.65043342e-01 1.19779850e-03 9.86285588e-01 -3.25823670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:191.31, Y:-56.27, Z:-32.59 [[ 9.18651789e-01 3.64366973e-01 1.52694464e-01 1.91314754e+02] [-3.59265791e-01 9.31254949e-01 -6.07643833e-02 -5.62695675e+01] [-1.64338010e-01 9.63411986e-04 9.86403614e-01 -3.25863708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:-56.28, Z:-32.59 [[ 9.17652806e-01 3.66969218e-01 1.52469408e-01 1.91339796e+02] [-3.61920853e-01 9.30232959e-01 -6.06624995e-02 -5.62784749e+01] [-1.64093338e-01 4.85254770e-04 9.86444697e-01 -3.25926166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:-56.29, Z:-32.60 [[ 9.17208790e-01 3.68155171e-01 1.52281992e-01 1.91366703e+02] [-3.63137948e-01 9.29764326e-01 -6.05733259e-02 -5.62885396e+01] [-1.63886747e-01 2.59016705e-04 9.86479127e-01 -3.25971896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:-56.30, Z:-32.60 [[ 9.16550069e-01 3.69669836e-01 1.52578451e-01 1.91392065e+02] [-3.64655153e-01 9.29163178e-01 -6.06828462e-02 -5.62979210e+01] [-1.64202896e-01 -1.96513190e-05 9.86426586e-01 -3.26016189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:191.42, Y:-56.31, Z:-32.61 [[ 9.15881634e-01 3.71259658e-01 1.52732113e-01 1.91419314e+02] [-3.66259281e-01 9.28529033e-01 -6.07286967e-02 -5.63077609e+01] [-1.64362317e-01 -3.19256113e-04 9.86399983e-01 -3.26055534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:191.45, Y:-56.32, Z:-32.61 [[ 9.15904181e-01 3.71202813e-01 1.52735074e-01 1.91445452e+02] [-3.66202892e-01 9.28551760e-01 -6.07212502e-02 -5.63180216e+01] [-1.64362321e-01 -3.17178835e-04 9.86399983e-01 -3.26103968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:-56.33, Z:-32.62 [[ 9.14374910e-01 3.74760519e-01 1.53209262e-01 1.91471572e+02] [-3.69780628e-01 9.27121143e-01 -6.08988791e-02 -5.63263849e+01] [-1.64866042e-01 -9.69410086e-04 9.86315491e-01 -3.26157912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.83587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:191.50, Y:-56.34, Z:-32.62 [[ 9.13525344e-01 3.76829708e-01 1.53201882e-01 1.91496737e+02] [-3.71881365e-01 9.26281564e-01 -6.08828020e-02 -5.63353953e+01] [-1.64850528e-01 -1.35494243e-03 9.86317630e-01 -3.26192746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:191.52, Y:-56.34, Z:-32.62 [[ 9.12626823e-01 3.78800165e-01 1.53696836e-01 1.91523015e+02] [-3.73849907e-01 9.25476871e-01 -6.10639622e-02 -5.63438762e+01] [-1.65373906e-01 -1.73093823e-03 9.86229423e-01 -3.26240724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:-56.35, Z:-32.63 [[ 9.11001277e-01 3.82590491e-01 1.53951907e-01 1.91548454e+02] [-3.77679514e-01 9.23914816e-01 -6.11522412e-02 -5.63501583e+01] [-1.65634714e-01 -2.43471162e-03 9.86184168e-01 -3.26300057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:-56.36, Z:-32.64 [[ 9.10475420e-01 3.83842860e-01 1.53945344e-01 1.91574335e+02] [-3.78952640e-01 9.23394549e-01 -6.11343013e-02 -5.63592619e+01] [-1.65618257e-01 -2.67671603e-03 9.86186305e-01 -3.26350557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:-56.37, Z:-32.64 [[ 9.09817622e-01 3.85492839e-01 1.53711306e-01 1.91601482e+02] [-3.80643083e-01 9.22706001e-01 -6.10285011e-02 -5.63666359e+01] [-1.65356395e-01 -2.98433977e-03 9.86229363e-01 -3.26402595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:-56.37, Z:-32.64 [[ 9.09794063e-01 3.85659188e-01 1.53433222e-01 1.91627105e+02] [-3.80831517e-01 9.22636367e-01 -6.09055796e-02 -5.63747755e+01] [-1.65051867e-01 -3.02067215e-03 9.86280263e-01 -3.26448604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:-56.38, Z:-32.65 [[ 9.09914538e-01 3.85449330e-01 1.53246037e-01 1.91653563e+02] [-3.80634515e-01 9.22724123e-01 -6.08075533e-02 -5.63835955e+01] [-1.64842045e-01 -3.00105401e-03 9.86315413e-01 -3.26498548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.68, Y:-56.39, Z:-32.65 [[ 9.10544323e-01 3.83994057e-01 1.53158741e-01 1.91679334e+02] [-3.79166421e-01 9.23331476e-01 -6.07602768e-02 -5.63912631e+01] [-1.64747871e-01 -2.74772645e-03 9.86331886e-01 -3.26544395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.71, Y:-56.40, Z:-32.66 [[ 9.11159524e-01 3.82535390e-01 1.53150246e-01 1.91705958e+02] [-3.77690198e-01 9.23937465e-01 -6.07426922e-02 -5.64003047e+01] [-1.64737480e-01 -2.49706425e-03 9.86334288e-01 -3.26591100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:-56.41, Z:-32.66 [[ 9.11840566e-01 3.80820360e-01 1.53370908e-01 1.91731837e+02] [-3.75942640e-01 9.24646374e-01 -6.07965043e-02 -5.64090856e+01] [-1.64966401e-01 -2.22194516e-03 9.86296684e-01 -3.26639750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:-56.42, Z:-32.67 [[ 9.13247407e-01 3.77399534e-01 1.53456069e-01 1.91758165e+02] [-3.72473945e-01 9.26049089e-01 -6.07967520e-02 -5.64173972e+01] [-1.65052519e-01 -1.63591141e-03 9.86283423e-01 -3.26688905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:-56.43, Z:-32.67 [[ 9.13990776e-01 3.75592863e-01 1.53462902e-01 1.91783179e+02] [-3.70647194e-01 9.26783795e-01 -6.07655828e-02 -5.64265160e+01] [-1.65050050e-01 -1.34141190e-03 9.86284280e-01 -3.26737303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:191.81, Y:-56.44, Z:-32.68 [[ 9.14854931e-01 3.73617907e-01 1.53134301e-01 1.91809369e+02] [-3.68668340e-01 9.27582163e-01 -6.06216685e-02 -5.64357488e+01] [-1.64693987e-01 -9.95736338e-04 9.86344209e-01 -3.26774016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:-56.44, Z:-32.68 [[ 9.15495251e-01 3.71848869e-01 1.53612707e-01 1.91835535e+02] [-3.66849063e-01 9.28293010e-01 -6.07770723e-02 -5.64448195e+01] [-1.65197488e-01 -7.11556640e-04 9.86260251e-01 -3.26837743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:-56.45, Z:-32.69 [[ 9.16736864e-01 3.68771974e-01 1.53625366e-01 1.91860493e+02] [-3.63730545e-01 9.29519877e-01 -6.07691373e-02 -5.64529424e+01] [-1.65207786e-01 -1.68929805e-04 9.86258769e-01 -3.26878068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:191.89, Y:-56.46, Z:-32.69 [[ 9.17460217e-01 3.67083230e-01 1.53351402e-01 1.91886494e+02] [-3.62038860e-01 9.30188093e-01 -6.06463199e-02 -5.64626591e+01] [-1.64907895e-01 1.21419019e-04 9.86308963e-01 -3.26916676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.91, Y:-56.47, Z:-32.70 [[ 9.18092305e-01 3.65509350e-01 1.53327867e-01 1.91911333e+02] [-3.60450214e-01 9.30807593e-01 -6.06041867e-02 -5.64717962e+01] [-1.64870140e-01 3.73175107e-04 9.86315212e-01 -3.26974757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:-56.48, Z:-32.70 [[ 9.19141736e-01 3.62737041e-01 1.53623918e-01 1.91936887e+02] [-3.57623472e-01 9.31891149e-01 -6.06987458e-02 -5.64812191e+01] [-1.65178453e-01 8.51231724e-04 9.86263329e-01 -3.27019705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:-56.49, Z:-32.71 [[ 9.19746279e-01 3.61158474e-01 1.53724879e-01 1.91961912e+02] [-3.56018321e-01 9.32503777e-01 -6.07261187e-02 -5.64910911e+01] [-1.65280783e-01 1.12374850e-03 9.86245913e-01 -3.27066488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:-56.50, Z:-32.71 [[ 9.20365233e-01 3.59539101e-01 1.53816361e-01 1.91986941e+02] [-3.54373999e-01 9.33128978e-01 -6.07402578e-02 -5.65013380e+01] [-1.65369001e-01 1.39470263e-03 9.86230778e-01 -3.27108380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:-56.51, Z:-32.72 [[ 9.21291600e-01 3.56726998e-01 1.54814846e-01 1.92011906e+02] [-3.51458399e-01 9.34206761e-01 -6.11123700e-02 -5.65113521e+01] [-1.66429508e-01 1.89133537e-03 9.86051541e-01 -3.27156975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:-56.52, Z:-32.72 [[ 9.21725778e-01 3.55569601e-01 1.54893025e-01 1.92037329e+02] [-3.50281857e-01 9.34647474e-01 -6.11287189e-02 -5.65223757e+01] [-1.66505888e-01 2.08769961e-03 9.86038250e-01 -3.27206055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:-56.53, Z:-32.73 [[ 9.22149672e-01 3.54595477e-01 1.54602813e-01 1.92062974e+02] [-3.49316221e-01 9.35017111e-01 -6.10014777e-02 -5.65336514e+01] [-1.66187124e-01 2.24722225e-03 9.86091674e-01 -3.27252851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.09, Y:-56.55, Z:-32.73 [[ 9.22168144e-01 3.54397606e-01 1.54945960e-01 1.92088500e+02] [-3.49094106e-01 9.35092058e-01 -6.11240381e-02 -5.65458756e+01] [-1.66550949e-01 2.27591945e-03 9.86030223e-01 -3.27301468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:-56.56, Z:-32.73 [[ 9.21822020e-01 3.55272996e-01 1.55000847e-01 1.92115178e+02] [-3.49979445e-01 9.34760207e-01 -6.11370880e-02 -5.65566768e+01] [-1.66608980e-01 2.11040360e-03 9.86020788e-01 -3.27349923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:-56.57, Z:-32.74 [[ 9.20476479e-01 3.59094109e-01 1.54189727e-01 1.92140021e+02] [-3.53910754e-01 9.33300300e-01 -6.08089508e-02 -5.65667593e+01] [-1.65741454e-01 1.40380656e-03 9.86168241e-01 -3.27393465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:-56.58, Z:-32.74 [[ 9.19453010e-01 3.61843050e-01 1.53869325e-01 1.92165750e+02] [-3.56722720e-01 9.32238605e-01 -6.06636933e-02 -5.65765452e+01] [-1.65393661e-01 8.88731059e-04 9.86227229e-01 -3.27440587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:-56.59, Z:-32.75 [[ 9.18366921e-01 3.64825630e-01 1.53311639e-01 1.92191107e+02] [-3.59785922e-01 9.31075800e-01 -6.04313275e-02 -5.65861624e+01] [-1.64791654e-01 3.38763002e-04 9.86328341e-01 -3.27486409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:-56.60, Z:-32.75 [[ 9.17261608e-01 3.67809911e-01 1.52797292e-01 1.92216162e+02] [-3.62847412e-01 9.29900977e-01 -6.02156877e-02 -5.65955859e+01] [-1.64234278e-01 -2.08563387e-04 9.86421339e-01 -3.27536672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.24, Y:-56.61, Z:-32.76 [[ 9.16035327e-01 3.71051328e-01 1.52316092e-01 1.92241370e+02] [-3.66167140e-01 9.28612013e-01 -6.00112884e-02 -5.66052683e+01] [-1.63709821e-01 -8.00687538e-04 9.86508213e-01 -3.27582087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:192.27, Y:-56.61, Z:-32.76 [[ 9.13284492e-01 3.77544548e-01 1.52877571e-01 1.92267114e+02] [-3.72717920e-01 9.25989281e-01 -6.02096711e-02 -5.66126615e+01] [-1.64294825e-01 -1.99165122e-03 9.86409268e-01 -3.27614711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.29, Y:-56.62, Z:-32.77 [[ 9.11956013e-01 3.80431439e-01 1.53649443e-01 1.92292566e+02] [-3.75598758e-01 9.24805643e-01 -6.04987234e-02 -5.66206328e+01] [-1.65111488e-01 -2.53836532e-03 9.86271643e-01 -3.27664726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:-56.63, Z:-32.77 [[ 9.10837386e-01 3.82981560e-01 1.53949284e-01 1.92319136e+02] [-3.78168350e-01 9.23751053e-01 -6.06027384e-02 -5.66289452e+01] [-1.65420544e-01 -3.01950677e-03 9.86218498e-01 -3.27713106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.35, Y:-56.64, Z:-32.77 [[ 9.08968559e-01 3.87184106e-01 1.54481801e-01 1.92346793e+02] [-3.82403149e-01 9.21994474e-01 -6.07784678e-02 -5.66354216e+01] [-1.65963823e-01 -3.82861073e-03 9.86124410e-01 -3.27746026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:-56.64, Z:-32.78 [[ 9.08348204e-01 3.88534219e-01 1.54740755e-01 1.92373361e+02] [-3.83762272e-01 9.21425111e-01 -6.08463870e-02 -5.66433295e+01] [-1.66222921e-01 -4.11395759e-03 9.86079619e-01 -3.27803810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:-56.65, Z:-32.79 [[ 9.07819792e-01 3.89730700e-01 1.54832835e-01 1.92399126e+02] [-3.84976122e-01 9.20918510e-01 -6.08480332e-02 -5.66515596e+01] [-1.66302771e-01 -4.36789571e-03 9.86065064e-01 -3.27852801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.43, Y:-56.66, Z:-32.79 [[ 9.07309162e-01 3.90700326e-01 1.55381271e-01 1.92426500e+02] [-3.85928360e-01 9.20506555e-01 -6.10490164e-02 -5.66573892e+01] [-1.66881349e-01 -4.57570720e-03 9.85966368e-01 -3.27899895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.45, Y:-56.66, Z:-32.79 [[ 9.07235444e-01 3.90858276e-01 1.55414469e-01 1.92453685e+02] [-3.86092349e-01 9.20439189e-01 -6.10278462e-02 -5.66648344e+01] [-1.66902807e-01 -4.63771248e-03 9.85962446e-01 -3.27948985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:-56.67, Z:-32.80 [[ 9.07347955e-01 3.90789394e-01 1.54930107e-01 1.92479425e+02] [-3.86058260e-01 9.20468409e-01 -6.08023756e-02 -5.66722933e+01] [-1.66369193e-01 -4.64313637e-03 9.86052602e-01 -3.27999834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:-56.68, Z:-32.81 [[ 9.08034766e-01 3.89850821e-01 1.53261875e-01 1.92505206e+02] [-3.85210830e-01 9.20867343e-01 -6.01327861e-02 -5.66783034e+01] [-1.64576671e-01 -4.43547367e-03 9.86354321e-01 -3.28056056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:-56.69, Z:-32.81 [[ 9.08469265e-01 3.89107883e-01 1.52573425e-01 1.92532204e+02] [-3.84501616e-01 9.21182185e-01 -5.98488881e-02 -5.66861429e+01] [-1.63835595e-01 -4.29385301e-03 9.86478312e-01 -3.28105962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.56, Y:-56.69, Z:-32.81 [[ 9.09330976e-01 3.87338061e-01 1.51942103e-01 1.92560252e+02] [-3.82751021e-01 9.21929126e-01 -5.95679620e-02 -5.66918248e+01] [-1.63152789e-01 -3.98900203e-03 9.86592750e-01 -3.28145637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:-56.70, Z:-32.82 [[ 9.09667920e-01 3.86380942e-01 1.52361554e-01 1.92585273e+02] [-3.81761037e-01 9.22331206e-01 -5.96963705e-02 -5.66995242e+01] [-1.63593356e-01 -3.86183180e-03 9.86520299e-01 -3.28197035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:192.61, Y:-56.71, Z:-32.82 [[ 9.10172531e-01 3.84984012e-01 1.52883204e-01 1.92612054e+02] [-3.80315110e-01 9.22916075e-01 -5.98860190e-02 -5.67080132e+01] [-1.64153527e-01 -3.63718311e-03 9.86428097e-01 -3.28237365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:192.64, Y:-56.72, Z:-32.83 [[ 9.10570873e-01 3.83917575e-01 1.53192626e-01 1.92637598e+02] [-3.79220510e-01 9.23360791e-01 -5.99721095e-02 -5.67155380e+01] [-1.64476411e-01 -3.48492958e-03 9.86374861e-01 -3.28273807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:-56.72, Z:-32.83 [[ 9.11198995e-01 3.82037092e-01 1.54155936e-01 1.92665264e+02] [-3.77257646e-01 9.24141492e-01 -6.03255396e-02 -5.67199426e+01] [-1.65508491e-01 -3.18793470e-03 9.86203213e-01 -3.28324407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:-56.73, Z:-32.84 [[ 9.11556067e-01 3.81129075e-01 1.54292462e-01 1.92690627e+02] [-3.76334104e-01 9.24516777e-01 -6.03437663e-02 -5.67268348e+01] [-1.65644734e-01 -3.05878916e-03 9.86180747e-01 -3.28367921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:-56.73, Z:-32.84 [[ 9.11932448e-01 3.80232303e-01 1.54280929e-01 1.92716615e+02] [-3.75427843e-01 9.24886441e-01 -6.03241749e-02 -5.67338090e+01] [-1.65629540e-01 -2.90978399e-03 9.86183750e-01 -3.28415435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:-56.74, Z:-32.85 [[ 9.12662690e-01 3.78733959e-01 1.53647005e-01 1.92743640e+02] [-3.73950509e-01 9.25501819e-01 -6.00616358e-02 -5.67369564e+01] [-1.64947964e-01 -2.64036146e-03 9.86298737e-01 -3.28463339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:-56.74, Z:-32.85 [[ 9.13191030e-01 3.77662729e-01 1.53143741e-01 1.92770364e+02] [-3.72898057e-01 9.25939984e-01 -5.98513541e-02 -5.67442877e+01] [-1.64405539e-01 -2.45128383e-03 9.86389786e-01 -3.28515074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.33587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:192.80, Y:-56.75, Z:-32.86 [[ 9.13820365e-01 3.76329597e-01 1.52670809e-01 1.92796941e+02] [-3.71581352e-01 9.26483158e-01 -5.96343618e-02 -5.67523442e+01] [-1.63889108e-01 -2.23453131e-03 9.86476237e-01 -3.28557794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:-56.76, Z:-32.86 [[ 9.14629256e-01 3.74489637e-01 1.52351030e-01 1.92822943e+02] [-3.69741559e-01 9.27229087e-01 -5.94760465e-02 -5.67600789e+01] [-1.63537469e-01 -1.93197524e-03 9.86535232e-01 -3.28615655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.85, Y:-56.77, Z:-32.87 [[ 9.16321475e-01 3.70453947e-01 1.52048768e-01 1.92849485e+02] [-3.65675333e-01 9.28850005e-01 -5.93230080e-02 -5.67650813e+01] [-1.63206941e-01 -1.24153756e-03 9.86591077e-01 -3.28661137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:192.88, Y:-56.77, Z:-32.87 [[ 9.17335019e-01 3.67931124e-01 1.52062984e-01 1.92876063e+02] [-3.63119489e-01 9.29852697e-01 -5.93143988e-02 -5.67727158e+01] [-1.63219789e-01 -8.05857764e-04 9.86589404e-01 -3.28697000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:-56.78, Z:-32.87 [[ 9.19332211e-01 3.62551170e-01 1.52921333e-01 1.92903242e+02] [-3.57616084e-01 9.31963859e-01 -5.96162880e-02 -5.67786588e+01] [-1.64131111e-01 1.20045563e-04 9.86438525e-01 -3.28749112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:192.93, Y:-56.79, Z:-32.88 [[ 9.20429454e-01 3.59679996e-01 1.53101016e-01 1.92928521e+02] [-3.54699304e-01 9.33075527e-01 -5.96528726e-02 -5.67868396e+01] [-1.64310756e-01 6.01437090e-04 9.86408442e-01 -3.28788528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.95, Y:-56.80, Z:-32.88 [[ 9.21549309e-01 3.56770722e-01 1.53171550e-01 1.92954714e+02] [-3.51747701e-01 9.34191321e-01 -5.96668330e-02 -5.67956911e+01] [-1.64378912e-01 1.10818808e-03 9.86396647e-01 -3.28837205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:192.98, Y:-56.80, Z:-32.89 [[ 9.23494052e-01 3.51614196e-01 1.53382504e-01 1.92979896e+02] [-3.46512220e-01 9.36142868e-01 -5.97144231e-02 -5.68033312e+01] [-1.64584376e-01 1.99700267e-03 9.86360986e-01 -3.28880551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.01, Y:-56.81, Z:-32.89 [[ 9.24426097e-01 3.49241642e-01 1.53188339e-01 1.93005027e+02] [-3.44122738e-01 9.37029617e-01 -5.96241363e-02 -5.68123382e+01] [-1.64365242e-01 2.40251687e-03 9.86396622e-01 -3.28931321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:-56.82, Z:-32.90 [[ 9.25210998e-01 3.47251903e-01 1.52972955e-01 1.93030453e+02] [-3.42122770e-01 9.37767889e-01 -5.95264314e-02 -5.68219242e+01] [-1.64123791e-01 2.73897792e-03 9.86435948e-01 -3.28983562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:-56.83, Z:-32.90 [[ 9.26345425e-01 3.44214791e-01 1.52971672e-01 1.93056685e+02] [-3.39050019e-01 9.38885318e-01 -5.94932301e-02 -5.68310817e+01] [-1.64101306e-01 3.24623325e-03 9.86438150e-01 -3.29024188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:-56.84, Z:-32.91 [[ 9.26385449e-01 3.44101995e-01 1.52983060e-01 1.93082886e+02] [-3.38940533e-01 9.38926704e-01 -5.94639320e-02 -5.68411262e+01] [-1.64101538e-01 3.23436156e-03 9.86438150e-01 -3.29072629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.11, Y:-56.85, Z:-32.91 [[ 9.26860303e-01 3.42852139e-01 1.52913015e-01 1.93108760e+02] [-3.37682046e-01 9.39383105e-01 -5.94156337e-02 -5.68503458e+01] [-1.64014680e-01 3.43401266e-03 9.86451921e-01 -3.29106682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:-56.86, Z:-32.92 [[ 9.27235796e-01 3.41731927e-01 1.53143949e-01 1.93134206e+02] [-3.36533014e-01 9.39790479e-01 -5.94927471e-02 -5.68595481e+01] [-1.64253796e-01 3.62580997e-03 9.86411448e-01 -3.29162088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.16, Y:-56.87, Z:-32.92 [[ 9.27495748e-01 3.40923604e-01 1.53371226e-01 1.93159115e+02] [-3.35700265e-01 9.40083474e-01 -5.95683944e-02 -5.68694247e+01] [-1.64490027e-01 3.76267124e-03 9.86371570e-01 -3.29198757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:-56.88, Z:-32.93 [[ 9.28235178e-01 3.38727788e-01 1.53762612e-01 1.93183603e+02] [-3.33450104e-01 9.40875270e-01 -5.97055555e-02 -5.68807896e+01] [-1.64895370e-01 4.14863793e-03 9.86302340e-01 -3.29256917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:-56.89, Z:-32.93 [[ 9.28708631e-01 3.37457926e-01 1.53695890e-01 1.93208011e+02] [-3.32169659e-01 9.41330513e-01 -5.96672690e-02 -5.68917909e+01] [-1.64813824e-01 4.36039629e-03 9.86315056e-01 -3.29303102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:193.23, Y:-56.90, Z:-32.93 [[ 9.29210201e-01 3.36036170e-01 1.53779371e-01 1.93233371e+02] [-3.30725213e-01 9.41837842e-01 -5.96851131e-02 -5.69032403e+01] [-1.64891587e-01 4.60130082e-03 9.86300964e-01 -3.29344267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:193.26, Y:-56.92, Z:-32.94 [[ 9.30103405e-01 3.33512317e-01 1.53873942e-01 1.93256537e+02] [-3.28162551e-01 9.42732269e-01 -5.97093737e-02 -5.69163002e+01] [-1.64975742e-01 5.04022646e-03 9.86284746e-01 -3.29392134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:-56.93, Z:-32.94 [[ 9.30584508e-01 3.32429777e-01 1.53306609e-01 1.93280471e+02] [-3.27107514e-01 9.43113682e-01 -5.94748405e-02 -5.69283029e+01] [-1.64356769e-01 5.19862145e-03 9.86387260e-01 -3.29446654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:-56.94, Z:-32.95 [[ 9.30915868e-01 3.31754843e-01 1.52755923e-01 1.93305700e+02] [-3.26464396e-01 9.43350835e-01 -5.92469457e-02 -5.69405927e+01] [-1.63757889e-01 5.28455178e-03 9.86486405e-01 -3.29495324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:-56.95, Z:-32.95 [[ 9.30832792e-01 3.32335400e-01 1.51998342e-01 1.93329279e+02] [-3.27107410e-01 9.43147241e-01 -5.89408504e-02 -5.69531864e+01] [-1.62944948e-01 5.14429233e-03 9.86621751e-01 -3.29541186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.35, Y:-56.96, Z:-32.96 [[ 9.30513050e-01 3.33363362e-01 1.51704755e-01 1.93354278e+02] [-3.28171632e-01 9.42785478e-01 -5.88125996e-02 -5.69647751e+01] [-1.62631006e-01 4.94069449e-03 9.86674589e-01 -3.29592507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:-56.98, Z:-32.96 [[ 9.30022050e-01 3.34946084e-01 1.51228658e-01 1.93379400e+02] [-3.29809843e-01 9.42225882e-01 -5.86161579e-02 -5.69766526e+01] [-1.62124808e-01 4.63761949e-03 9.86759362e-01 -3.29636356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:-56.99, Z:-32.97 [[ 9.28500108e-01 3.39101486e-01 1.51319966e-01 1.93403503e+02] [-3.34015657e-01 9.40741699e-01 -5.86395495e-02 -5.69900387e+01] [-1.62237761e-01 3.90359001e-03 9.86743974e-01 -3.29682629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:-57.00, Z:-32.97 [[ 9.27653541e-01 3.41375410e-01 1.51399264e-01 1.93428147e+02] [-3.36316257e-01 9.39920531e-01 -5.86580767e-02 -5.70013146e+01] [-1.62327701e-01 3.49633890e-03 9.86730709e-01 -3.29731733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:-57.01, Z:-32.98 [[ 9.26815201e-01 3.43615757e-01 1.51465493e-01 1.93452829e+02] [-3.38583851e-01 9.39105234e-01 -5.86714215e-02 -5.70120848e+01] [-1.62402462e-01 3.09379526e-03 9.86719752e-01 -3.29775434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14587156000002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:193.48, Y:-57.02, Z:-32.98 [[ 9.25025569e-01 3.48223848e-01 1.51881033e-01 1.93477703e+02] [-3.43228062e-01 9.37408642e-01 -5.88178225e-02 -5.70243504e+01] [-1.62856361e-01 2.27815724e-03 9.86647159e-01 -3.29806086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:193.50, Y:-57.04, Z:-32.99 [[ 9.24265867e-01 3.50242130e-01 1.51865263e-01 1.93501935e+02] [-3.45276468e-01 9.36657248e-01 -5.87993288e-02 -5.70355460e+01] [-1.62839702e-01 1.91071093e-03 9.86650688e-01 -3.29850368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:-57.05, Z:-32.99 [[ 9.23463405e-01 3.52397818e-01 1.51760066e-01 1.93526441e+02] [-3.47470371e-01 9.35849069e-01 -5.87440274e-02 -5.70472451e+01] [-1.62725784e-01 1.51583296e-03 9.86670169e-01 -3.29908165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:-57.06, Z:-33.00 [[ 9.21749671e-01 3.56746845e-01 1.52017211e-01 1.93549962e+02] [-3.51863303e-01 9.34200805e-01 -5.88308721e-02 -5.70610193e+01] [-1.63002329e-01 7.38058834e-04 9.86625408e-01 -3.29953617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26587156000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:193.57, Y:-57.07, Z:-33.00 [[ 9.20878457e-01 3.58895659e-01 1.52239197e-01 1.93574251e+02] [-3.54029350e-01 9.33377623e-01 -5.89018870e-02 -5.70723168e+01] [-1.63236291e-01 3.44335025e-04 9.86586942e-01 -3.29990459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:193.60, Y:-57.08, Z:-33.00 [[ 9.20046601e-01 3.61007037e-01 1.52276628e-01 1.93599762e+02] [-3.56169349e-01 9.32563090e-01 -5.89022736e-02 -5.70835962e+01] [-1.63271698e-01 -4.34306842e-05 9.86581143e-01 -3.30034940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:-57.09, Z:-33.01 [[ 9.19156485e-01 3.63327141e-01 1.52133968e-01 1.93624848e+02] [-3.58535772e-01 9.31661500e-01 -5.88128298e-02 -5.70938755e+01] [-1.63105659e-01 -4.87275807e-04 9.86608487e-01 -3.30089454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.65, Y:-57.10, Z:-33.01 [[ 9.16969633e-01 3.69043564e-01 1.51570248e-01 1.93649068e+02] [-3.64367325e-01 9.29410873e-01 -5.85822666e-02 -5.71042104e+01] [-1.62490445e-01 -1.50908610e-03 9.86708963e-01 -3.30130863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:-57.11, Z:-33.02 [[ 9.15845097e-01 3.71985547e-01 1.51177082e-01 1.93674130e+02] [-3.67375868e-01 9.28236281e-01 -5.84155596e-02 -5.71141361e+01] [-1.62057796e-01 -2.03920767e-03 9.86779161e-01 -3.30183780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41587156000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:193.70, Y:-57.12, Z:-33.02 [[ 9.14727948e-01 3.74970507e-01 1.50565265e-01 1.93699634e+02] [-3.70440550e-01 9.27033180e-01 -5.81659908e-02 -5.71244827e+01] [-1.61389528e-01 -2.56942212e-03 9.86887440e-01 -3.30224666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:-57.13, Z:-33.03 [[ 9.12583431e-01 3.80153903e-01 1.50580515e-01 1.93724172e+02] [-3.75698560e-01 9.24916556e-01 -5.81373921e-02 -5.71341824e+01] [-1.61375568e-01 -3.51766185e-03 9.86886798e-01 -3.30283336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:-57.14, Z:-33.03 [[ 9.11734396e-01 3.82202244e-01 1.50538486e-01 1.93749667e+02] [-3.77780795e-01 9.24070470e-01 -5.80985141e-02 -5.71435372e+01] [-1.61313552e-01 -3.90013528e-03 9.86895500e-01 -3.30327370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:-57.15, Z:-33.04 [[ 9.10894513e-01 3.84079961e-01 1.50843527e-01 1.93775811e+02] [-3.79671417e-01 9.23289950e-01 -5.81831889e-02 -5.71530868e+01] [-1.61619310e-01 -4.27222832e-03 9.86843932e-01 -3.30371963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.80, Y:-57.16, Z:-33.04 [[ 9.09718925e-01 3.86679368e-01 1.51296212e-01 1.93801683e+02] [-3.82285546e-01 9.22201827e-01 -5.83228272e-02 -5.71606985e+01] [-1.62077877e-01 -4.78097535e-03 9.86766388e-01 -3.30414861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:-57.17, Z:-33.05 [[ 9.09394260e-01 3.87319580e-01 1.51610099e-01 1.93827118e+02] [-3.82920147e-01 9.21932351e-01 -5.84200400e-02 -5.71687191e+01] [-1.62401480e-01 -4.92771227e-03 9.86712459e-01 -3.30464737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:-57.18, Z:-33.05 [[ 9.09432510e-01 3.87380451e-01 1.51224654e-01 1.93853343e+02] [-3.83006564e-01 9.21906719e-01 -5.82578217e-02 -5.71773537e+01] [-1.61982966e-01 -4.93847827e-03 9.86781197e-01 -3.30514364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-57.19, Z:-33.06 [[ 9.10108703e-01 3.85874022e-01 1.51007904e-01 1.93878749e+02] [-3.81497672e-01 9.22539537e-01 -5.81405955e-02 -5.71857802e+01] [-1.61745707e-01 -4.69490194e-03 9.86821303e-01 -3.30564494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:-57.19, Z:-33.06 [[ 9.10797389e-01 3.84134568e-01 1.51290285e-01 1.93905325e+02] [-3.79720117e-01 9.23266599e-01 -5.82359011e-02 -5.71945061e+01] [-1.62051690e-01 -4.40685808e-03 9.86772430e-01 -3.30610280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.93, Y:-57.20, Z:-33.06 [[ 9.12505459e-01 3.79979136e-01 1.51491398e-01 1.93932403e+02] [-3.75501364e-01 9.24987641e-01 -5.82802735e-02 -5.72026024e+01] [-1.62272958e-01 -3.70415870e-03 9.86738955e-01 -3.30649842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:-57.21, Z:-33.07 [[ 9.13501801e-01 3.77588271e-01 1.51464708e-01 1.93958664e+02] [-3.73084870e-01 9.25967680e-01 -5.82368974e-02 -5.72115971e+01] [-1.62240994e-01 -3.30968016e-03 9.86745614e-01 -3.30705379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:-57.22, Z:-33.08 [[ 9.14465038e-01 3.75294180e-01 1.51353800e-01 1.93985168e+02] [-3.70771579e-01 9.26901120e-01 -5.81614065e-02 -5.72204404e+01] [-1.62117644e-01 -2.93111464e-03 9.86767084e-01 -3.30750764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:194.01, Y:-57.23, Z:-33.08 [[ 9.15354366e-01 3.73245619e-01 1.51043344e-01 1.94010884e+02] [-3.68719788e-01 9.27728930e-01 -5.80064689e-02 -5.72287149e+01] [-1.61777940e-01 -2.59619507e-03 9.86823772e-01 -3.30789594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.04, Y:-57.24, Z:-33.08 [[ 9.16678232e-01 3.69903884e-01 1.51235366e-01 1.94036229e+02] [-3.65323719e-01 9.29067826e-01 -5.80650984e-02 -5.72351775e+01] [-1.61986418e-01 -2.02285474e-03 9.86790914e-01 -3.30844519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.83587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.06, Y:-57.24, Z:-33.09 [[ 9.17269934e-01 3.68314452e-01 1.51526672e-01 1.94062634e+02] [-3.63697156e-01 9.29699615e-01 -5.81636033e-02 -5.72432612e+01] [-1.62296784e-01 -1.75809511e-03 9.86740423e-01 -3.30892207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.09, Y:-57.25, Z:-33.09 [[ 9.17837429e-01 3.66830682e-01 1.51689498e-01 1.94088826e+02] [-3.62188578e-01 9.30286470e-01 -5.81937903e-02 -5.72516557e+01] [-1.62461956e-01 -1.52776481e-03 9.86713626e-01 -3.30930055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:-57.26, Z:-33.10 [[ 9.18374200e-01 3.65463917e-01 1.51739757e-01 1.94114141e+02] [-3.60805896e-01 9.30824573e-01 -5.81783524e-02 -5.72596907e+01] [-1.62505183e-01 -1.31910103e-03 9.86706808e-01 -3.30975990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:194.14, Y:-57.27, Z:-33.10 [[ 9.19449295e-01 3.62821269e-01 1.51570846e-01 1.94141115e+02] [-3.58140230e-01 9.31858348e-01 -5.80998708e-02 -5.72657422e+01] [-1.62322427e-01 -8.63732368e-04 9.86737394e-01 -3.31023562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.17, Y:-57.27, Z:-33.11 [[ 9.19931732e-01 3.61558731e-01 1.51660448e-01 1.94167864e+02] [-3.56860477e-01 9.32349093e-01 -5.81013608e-02 -5.72735628e+01] [-1.62407535e-01 -6.72334297e-04 9.86723538e-01 -3.31076987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:194.19, Y:-57.28, Z:-33.11 [[ 9.20393453e-01 3.60279490e-01 1.51903195e-01 1.94193121e+02] [-3.55554434e-01 9.32844284e-01 -5.81599994e-02 -5.72809319e+01] [-1.62655882e-01 -4.79771687e-04 9.86682742e-01 -3.31115261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:-57.29, Z:-33.12 [[ 9.21641886e-01 3.57058829e-01 1.51938234e-01 1.94219804e+02] [-3.52290311e-01 9.34081895e-01 -5.81596947e-02 -5.72869399e+01] [-1.62689186e-01 7.60432449e-05 9.86677365e-01 -3.31172289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:-57.30, Z:-33.12 [[ 9.22404172e-01 3.55164652e-01 1.51751814e-01 1.94246309e+02] [-3.50387860e-01 9.34803684e-01 -5.80553254e-02 -5.72958296e+01] [-1.62477354e-01 3.78481163e-04 9.86712200e-01 -3.31222401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.27, Y:-57.30, Z:-33.13 [[ 9.23879947e-01 3.51552899e-01 1.51183344e-01 1.94271720e+02] [-3.46769469e-01 9.36167507e-01 -5.78042674e-02 -5.73034958e+01] [-1.61854192e-01 9.78435651e-04 9.86814199e-01 -3.31272597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.30, Y:-57.31, Z:-33.13 [[ 9.24592043e-01 3.49871431e-01 1.50730013e-01 1.94298111e+02] [-3.45098207e-01 9.36796896e-01 -5.76090574e-02 -5.73121826e+01] [-1.61359172e-01 1.24821868e-03 9.86894959e-01 -3.31322328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:-57.32, Z:-33.14 [[ 9.25090839e-01 3.48605658e-01 1.50602239e-01 1.94323740e+02] [-3.43829401e-01 9.37268389e-01 -5.75265935e-02 -5.73203337e+01] [-1.61208814e-01 1.43584686e-03 9.86919276e-01 -3.31366333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:-57.33, Z:-33.14 [[ 9.25493834e-01 3.47565015e-01 1.50531469e-01 1.94350275e+02] [-3.42781743e-01 9.37654514e-01 -5.74864228e-02 -5.73288246e+01] [-1.61126781e-01 1.60389048e-03 9.86932413e-01 -3.31414782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.38, Y:-57.34, Z:-33.15 [[ 9.25759893e-01 3.46862635e-01 1.50515556e-01 1.94376121e+02] [-3.42076703e-01 9.37914412e-01 -5.74463739e-02 -5.73356533e+01] [-1.61096710e-01 1.69368382e-03 9.86937172e-01 -3.31459140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:-57.34, Z:-33.15 [[ 9.25719158e-01 3.46922146e-01 1.50628897e-01 1.94402325e+02] [-3.42131919e-01 9.37892440e-01 -5.74762581e-02 -5.73436522e+01] [-1.61213491e-01 1.67191958e-03 9.86918140e-01 -3.31508551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:-57.35, Z:-33.16 [[ 9.25705123e-01 3.47035522e-01 1.50453885e-01 1.94428089e+02] [-3.42263465e-01 9.37850589e-01 -5.73758882e-02 -5.73499653e+01] [-1.61014736e-01 1.61828585e-03 9.86950676e-01 -3.31557342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:-57.36, Z:-33.16 [[ 9.25856577e-01 3.46757291e-01 1.50163180e-01 1.94453884e+02] [-3.42002269e-01 9.37953440e-01 -5.72520123e-02 -5.73584034e+01] [-1.60698624e-01 1.65100399e-03 9.87002141e-01 -3.31605116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:194.48, Y:-57.37, Z:-33.16 [[ 9.25973930e-01 3.46477160e-01 1.50086168e-01 1.94479543e+02] [-3.41728880e-01 9.38056928e-01 -5.71889233e-02 -5.73660665e+01] [-1.60604026e-01 1.66667400e-03 9.87017512e-01 -3.31642521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:-57.37, Z:-33.17 [[ 9.26300976e-01 3.45536103e-01 1.50237487e-01 1.94506923e+02] [-3.40768021e-01 9.38403693e-01 -5.72334182e-02 -5.73723374e+01] [-1.60759625e-01 1.81924000e-03 9.86991912e-01 -3.31696488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.53, Y:-57.38, Z:-33.17 [[ 9.26521067e-01 3.44923213e-01 1.50288686e-01 1.94532593e+02] [-3.40149307e-01 9.38628994e-01 -5.72194053e-02 -5.73803106e+01] [-1.60801619e-01 1.89439216e-03 9.86984929e-01 -3.31745722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:-57.39, Z:-33.18 [[ 9.26806428e-01 3.44120968e-01 1.50368229e-01 1.94558765e+02] [-3.39333623e-01 9.38923144e-01 -5.72365458e-02 -5.73888291e+01] [-1.60880506e-01 2.02220254e-03 9.86971820e-01 -3.31795652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:-57.40, Z:-33.18 [[ 9.27479235e-01 3.42310018e-01 1.50353319e-01 1.94583888e+02] [-3.37505369e-01 9.39584238e-01 -5.71977744e-02 -5.73969011e+01] [-1.60848980e-01 2.30469547e-03 9.86976339e-01 -3.31840444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:-57.41, Z:-33.19 [[ 9.27895781e-01 3.41100785e-01 1.50531304e-01 1.94608743e+02] [-3.36271153e-01 9.40023395e-01 -5.72514422e-02 -5.74059621e+01] [-1.61031459e-01 2.50403669e-03 9.86946097e-01 -3.31885705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.63, Y:-57.42, Z:-33.19 [[ 9.28326626e-01 3.39759075e-01 1.50908735e-01 1.94634874e+02] [-3.34889512e-01 9.40508538e-01 -5.73820976e-02 -5.74157990e+01] [-1.61427042e-01 2.73157650e-03 9.86880869e-01 -3.31932982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.66, Y:-57.43, Z:-33.20 [[ 9.29079789e-01 3.37277180e-01 1.51838234e-01 1.94661354e+02] [-3.32319575e-01 9.41400114e-01 -5.77020405e-02 -5.74253168e+01] [-1.62402112e-01 3.15098228e-03 9.86719629e-01 -3.31976488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:194.69, Y:-57.43, Z:-33.20 [[ 9.29562604e-01 3.35912463e-01 1.51908469e-01 1.94686597e+02] [-3.30934208e-01 9.41887148e-01 -5.77161211e-02 -5.74344938e+01] [-1.62468199e-01 3.37903904e-03 9.86707995e-01 -3.32010509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:194.71, Y:-57.44, Z:-33.21 [[ 9.29601204e-01 3.35803454e-01 1.51913270e-01 1.94712878e+02] [-3.30825818e-01 9.41925998e-01 -5.77034802e-02 -5.74443249e+01] [-1.62468087e-01 3.38439280e-03 9.86707995e-01 -3.32058927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.74, Y:-57.45, Z:-33.21 [[ 9.29958815e-01 3.34681789e-01 1.52199548e-01 1.94737470e+02] [-3.29673658e-01 9.42324450e-01 -5.77919503e-02 -5.74531870e+01] [-1.62763268e-01 3.56795205e-03 9.86658699e-01 -3.32111336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:194.76, Y:-57.46, Z:-33.21 [[ 9.30379427e-01 3.33611897e-01 1.51977706e-01 1.94764300e+02] [-3.28608004e-01 9.42703137e-01 -5.76851419e-02 -5.74623546e+01] [-1.62514310e-01 3.72797871e-03 9.86699144e-01 -3.32143582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:194.79, Y:-57.47, Z:-33.22 [[ 9.30724029e-01 3.32806126e-01 1.51633981e-01 1.94790480e+02] [-3.27816402e-01 9.42987420e-01 -5.75424347e-02 -5.74716052e+01] [-1.62139412e-01 3.84802051e-03 9.86760358e-01 -3.32189819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:-57.48, Z:-33.23 [[ 9.30768411e-01 3.32676416e-01 1.51646193e-01 1.94815043e+02] [-3.27686234e-01 9.43033144e-01 -5.75345205e-02 -5.74811376e+01] [-1.62147764e-01 3.85894427e-03 9.86758943e-01 -3.32253816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:-57.49, Z:-33.23 [[ 9.30703032e-01 3.32818725e-01 1.51735174e-01 1.94839895e+02] [-3.27826939e-01 9.42983078e-01 -5.75535609e-02 -5.74908466e+01] [-1.62238604e-01 3.82239592e-03 9.86744154e-01 -3.32303994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.87, Y:-57.50, Z:-33.23 [[ 9.30463619e-01 3.33597301e-01 1.51493548e-01 1.94866021e+02] [-3.28634089e-01 9.42708541e-01 -5.74477336e-02 -5.74999840e+01] [-1.61978670e-01 3.66708202e-03 9.86787446e-01 -3.32349368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:-57.51, Z:-33.24 [[ 9.30479158e-01 3.33721139e-01 1.51124907e-01 1.94891343e+02] [-3.28785851e-01 9.42664873e-01 -5.72957429e-02 -5.75092773e+01] [-1.61580942e-01 3.62476356e-03 9.86852806e-01 -3.32395795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.92, Y:-57.52, Z:-33.24 [[ 9.30435473e-01 3.33830759e-01 1.51151759e-01 1.94916614e+02] [-3.28897509e-01 9.42626181e-01 -5.72914594e-02 -5.75191237e+01] [-1.61605257e-01 3.59256921e-03 9.86848942e-01 -3.32445195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:-57.53, Z:-33.25 [[ 9.30800590e-01 3.32996929e-01 1.50742518e-01 1.94941227e+02] [-3.28081710e-01 9.42920592e-01 -5.71239750e-02 -5.75290857e+01] [-1.61160332e-01 3.71516676e-03 9.86921246e-01 -3.32491210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:-57.54, Z:-33.25 [[ 9.31087133e-01 3.32030948e-01 1.51103279e-01 1.94967245e+02] [-3.27081616e-01 9.43260518e-01 -5.72469406e-02 -5.75394681e+01] [-1.61537513e-01 3.87878519e-03 9.86858950e-01 -3.32540173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.99, Y:-57.55, Z:-33.26 [[ 9.31465388e-01 3.31033019e-01 1.50961488e-01 1.94993243e+02] [-3.26085364e-01 9.43610622e-01 -5.71605605e-02 -5.75501254e+01] [-1.61370896e-01 4.01675197e-03 9.86885657e-01 -3.32576578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:-57.56, Z:-33.26 [[ 9.31994857e-01 3.29302484e-01 1.51477587e-01 1.95017277e+02] [-3.24299937e-01 9.44214599e-01 -5.73440592e-02 -5.75623896e+01] [-1.61910890e-01 4.32019625e-03 9.86795926e-01 -3.32637664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.04, Y:-57.57, Z:-33.27 [[ 9.32192868e-01 3.28715756e-01 1.51533523e-01 1.95042665e+02] [-3.23705539e-01 9.44418644e-01 -5.73423844e-02 -5.75728902e+01] [-1.61960430e-01 4.40192095e-03 9.86787435e-01 -3.32683711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:-57.58, Z:-33.27 [[ 9.32669877e-01 3.27504250e-01 1.51221252e-01 1.95067427e+02] [-3.22500983e-01 9.44838552e-01 -5.72121245e-02 -5.75846521e+01] [-1.61616883e-01 4.59102256e-03 9.86842898e-01 -3.32733274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:-57.59, Z:-33.28 [[ 9.32959890e-01 3.26753646e-01 1.51055945e-01 1.95091450e+02] [-3.21753544e-01 9.45097837e-01 -5.71378631e-02 -5.75949907e+01] [-1.61432652e-01 4.70454889e-03 9.86872518e-01 -3.32780038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:195.12, Y:-57.61, Z:-33.28 [[ 9.33253314e-01 3.26065535e-01 1.50729953e-01 1.95115939e+02] [-3.21081937e-01 9.45335026e-01 -5.69919179e-02 -5.76053871e+01] [-1.61073404e-01 4.79123082e-03 9.86930799e-01 -3.32808808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:195.14, Y:-57.62, Z:-33.29 [[ 9.33493505e-01 3.25318586e-01 1.50856535e-01 1.95141528e+02] [-3.20319175e-01 9.45591720e-01 -5.70256491e-02 -5.76165591e+01] [-1.61200194e-01 4.91083199e-03 9.86909510e-01 -3.32861132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:-57.63, Z:-33.29 [[ 9.33979319e-01 3.23766261e-01 1.51188755e-01 1.95164242e+02] [-3.18726406e-01 9.46122923e-01 -5.71392317e-02 -5.76301254e+01] [-1.61542902e-01 5.17901222e-03 9.86852101e-01 -3.32917925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:-57.64, Z:-33.30 [[ 9.34129023e-01 3.23134590e-01 1.51614659e-01 1.95188428e+02] [-3.18060133e-01 9.46338233e-01 -5.72861265e-02 -5.76414512e+01] [-1.61989878e-01 5.29005479e-03 9.86778240e-01 -3.32957981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:-57.65, Z:-33.30 [[ 9.34207556e-01 3.22764945e-01 1.51917845e-01 1.95213465e+02] [-3.17667468e-01 9.46464024e-01 -5.73866758e-02 -5.76530124e+01] [-1.62307182e-01 5.35170891e-03 9.86725766e-01 -3.33001802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:195.24, Y:-57.66, Z:-33.30 [[ 9.34340012e-01 3.22469734e-01 1.51730066e-01 1.95238588e+02] [-3.17383051e-01 9.46564460e-01 -5.73037765e-02 -5.76643370e+01] [-1.62101022e-01 5.38465985e-03 9.86759476e-01 -3.33032470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-57.68, Z:-33.31 [[ 9.34038093e-01 3.23005819e-01 1.52446981e-01 1.95261965e+02] [-3.17879659e-01 9.46382106e-01 -5.75624210e-02 -5.76774676e+01] [-1.62866092e-01 5.30569956e-03 9.86633917e-01 -3.33086525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-57.69, Z:-33.31 [[ 9.33680238e-01 3.24002103e-01 1.52524919e-01 1.95287413e+02] [-3.18886191e-01 9.46042500e-01 -5.75776441e-02 -5.76888855e+01] [-1.62950333e-01 5.12101806e-03 9.86620983e-01 -3.33129586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:-57.70, Z:-33.32 [[ 9.32508745e-01 3.27156190e-01 1.52958384e-01 1.95311842e+02] [-3.22054972e-01 9.44959218e-01 -5.77292961e-02 -5.77028061e+01] [-1.63425931e-01 4.57206547e-03 9.86545012e-01 -3.33176639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.33587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:195.34, Y:-57.71, Z:-33.32 [[ 9.31847212e-01 3.29011618e-01 1.53010223e-01 1.95336618e+02] [-3.23933762e-01 9.44316371e-01 -5.77365581e-02 -5.77144767e+01] [-1.63486057e-01 4.23647368e-03 9.86536549e-01 -3.33204673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-57.73, Z:-33.33 [[ 9.31163744e-01 3.30793614e-01 1.53328626e-01 1.95359997e+02] [-3.25720808e-01 9.43694989e-01 -5.78422208e-02 -5.77258845e+01] [-1.63829293e-01 3.91825499e-03 9.86480922e-01 -3.33263806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-57.74, Z:-33.33 [[ 9.30665433e-01 3.32045977e-01 1.53646741e-01 1.95385045e+02] [-3.26971268e-01 9.43255977e-01 -5.79478307e-02 -5.77375481e+01] [-1.64169551e-01 3.69197325e-03 9.86425227e-01 -3.33313486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:-57.75, Z:-33.34 [[ 9.30167682e-01 3.33494374e-01 1.53523892e-01 1.95408074e+02] [-3.28449445e-01 9.42745880e-01 -5.78892790e-02 -5.77513731e+01] [-1.64039766e-01 3.42189927e-03 9.86447792e-01 -3.33358538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.43, Y:-57.76, Z:-33.34 [[ 9.30247024e-01 3.33355504e-01 1.53344654e-01 1.95432276e+02] [-3.28322932e-01 9.42794968e-01 -5.78074363e-02 -5.77631905e+01] [-1.63842995e-01 3.42862926e-03 9.86480470e-01 -3.33410233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:-57.78, Z:-33.35 [[ 9.30592521e-01 3.32548695e-01 1.52999754e-01 1.95455634e+02] [-3.27530346e-01 9.43079407e-01 -5.76637261e-02 -5.77777773e+01] [-1.63466914e-01 3.54936985e-03 9.86542432e-01 -3.33462664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-57.79, Z:-33.35 [[ 9.30720801e-01 3.32166107e-01 1.53050543e-01 1.95479834e+02] [-3.27141364e-01 9.43214014e-01 -5.76701978e-02 -5.77899425e+01] [-1.63515502e-01 3.60568935e-03 9.86534176e-01 -3.33510605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:195.50, Y:-57.80, Z:-33.35 [[ 9.30844637e-01 3.31814152e-01 1.53060869e-01 1.95503892e+02] [-3.26786076e-01 9.43337693e-01 -5.76615708e-02 -5.78021777e+01] [-1.63521013e-01 3.65580303e-03 9.86533078e-01 -3.33540122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:-57.81, Z:-33.36 [[ 9.31040145e-01 3.31183077e-01 1.53238436e-01 1.95528629e+02] [-3.26137149e-01 9.43559035e-01 -5.77140182e-02 -5.78146754e+01] [-1.63703417e-01 3.75732142e-03 9.86502445e-01 -3.33601755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:-57.83, Z:-33.36 [[ 9.31201859e-01 3.30795552e-01 1.53092786e-01 1.95551884e+02] [-3.25756151e-01 9.43694754e-01 -5.76467024e-02 -5.78299717e+01] [-1.63542132e-01 3.80979971e-03 9.86528994e-01 -3.33647526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:-57.84, Z:-33.37 [[ 9.31261004e-01 3.30732020e-01 1.52870121e-01 1.95576279e+02] [-3.25708173e-01 9.43717038e-01 -5.75529187e-02 -5.78419997e+01] [-1.63300731e-01 3.80574100e-03 9.86568998e-01 -3.33689384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-57.85, Z:-33.37 [[ 9.31250150e-01 3.30779795e-01 1.52832867e-01 1.95601350e+02] [-3.25761993e-01 9.43700399e-01 -5.75211337e-02 -5.78546370e+01] [-1.63255266e-01 3.77942520e-03 9.86576624e-01 -3.33741600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:-57.87, Z:-33.38 [[ 9.31025196e-01 3.31378112e-01 1.52907260e-01 1.95625865e+02] [-3.26364757e-01 9.43490906e-01 -5.75409102e-02 -5.78702351e+01] [-1.63334408e-01 3.66849623e-03 9.86563943e-01 -3.33787569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.65, Y:-57.88, Z:-33.38 [[ 9.30778726e-01 3.31954975e-01 1.53156319e-01 1.95651340e+02] [-3.26934235e-01 9.43288493e-01 -5.76265969e-02 -5.78828625e+01] [-1.63600029e-01 3.56556632e-03 9.86520308e-01 -3.33833737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:-57.90, Z:-33.39 [[ 9.30101370e-01 3.33756883e-01 1.53355090e-01 1.95675235e+02] [-3.28749606e-01 9.42653620e-01 -5.76875179e-02 -5.78989829e+01] [-1.63814337e-01 3.23981389e-03 9.86485867e-01 -3.33884355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.70, Y:-57.91, Z:-33.39 [[ 9.29744272e-01 3.34881654e-01 1.53068177e-01 1.95699323e+02] [-3.29909714e-01 9.42255331e-01 -5.75714487e-02 -5.79118638e+01] [-1.63508928e-01 3.02804607e-03 9.86537207e-01 -3.33930460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:-57.92, Z:-33.40 [[ 9.29376818e-01 3.35970989e-01 1.52912477e-01 1.95723767e+02] [-3.31025560e-01 9.41868102e-01 -5.75026743e-02 -5.79242461e+01] [-1.63342615e-01 2.82371426e-03 9.86565364e-01 -3.33977595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.75, Y:-57.94, Z:-33.40 [[ 9.28563699e-01 3.38649968e-01 1.51939647e-01 1.95746899e+02] [-3.33804954e-01 9.40909550e-01 -5.71268023e-02 -5.79393442e+01] [-1.62307454e-01 2.32766808e-03 9.86737489e-01 -3.34028834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-57.95, Z:-33.41 [[ 9.28115357e-01 3.39943713e-01 1.51789845e-01 1.95772484e+02] [-3.35127159e-01 9.40443462e-01 -5.70603332e-02 -5.79524131e+01] [-1.62147068e-01 2.08967204e-03 9.86764390e-01 -3.34078774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:-57.97, Z:-33.41 [[ 9.27530111e-01 3.41594515e-01 1.51661072e-01 1.95798291e+02] [-3.36809422e-01 9.39845720e-01 -5.70038292e-02 -5.79656210e+01] [-1.62010205e-01 1.79188992e-03 9.86787456e-01 -3.34123887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.82, Y:-57.98, Z:-33.42 [[ 9.26154713e-01 3.45066301e-01 1.52206095e-01 1.95822633e+02] [-3.40294350e-01 9.38577568e-01 -5.72005570e-02 -5.79799449e+01] [-1.62595211e-01 1.18169123e-03 9.86692151e-01 -3.34168654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:-57.99, Z:-33.42 [[ 9.25316392e-01 3.47223283e-01 1.52399365e-01 1.95847813e+02] [-3.42469488e-01 9.37782149e-01 -5.72650982e-02 -5.79923334e+01] [-1.62801180e-01 7.96201401e-04 9.86658574e-01 -3.34217924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:195.87, Y:-58.00, Z:-33.42 [[ 9.24443653e-01 3.49507487e-01 1.52474421e-01 1.95872429e+02] [-3.44781137e-01 9.36933491e-01 -5.72852561e-02 -5.80049123e+01] [-1.62880017e-01 3.86687172e-04 9.86645808e-01 -3.34247684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.90, Y:-58.02, Z:-33.43 [[ 9.22523599e-01 3.54613666e-01 1.52313349e-01 1.95896869e+02] [-3.49968088e-01 9.35012767e-01 -5.72141935e-02 -5.80185587e+01] [-1.62703861e-01 -5.23367834e-04 9.86674810e-01 -3.34295942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.92, Y:-58.03, Z:-33.44 [[ 9.21458469e-01 3.57430615e-01 1.52176361e-01 1.95922942e+02] [-3.52833566e-01 9.33939127e-01 -5.71505243e-02 -5.80295936e+01] [-1.62550804e-01 -1.03109337e-03 9.86699637e-01 -3.34359861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.95, Y:-58.04, Z:-33.44 [[ 9.20333543e-01 3.60389206e-01 1.52005885e-01 1.95948416e+02] [-3.55843902e-01 9.32800723e-01 -5.70782682e-02 -5.80402335e+01] [-1.62361591e-01 -1.55932247e-03 9.86730096e-01 -3.34410899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:-58.05, Z:-33.45 [[ 9.17985334e-01 3.66494868e-01 1.51606196e-01 1.95973140e+02] [-3.62057736e-01 9.30416326e-01 -5.69179726e-02 -5.80525197e+01] [-1.61917025e-01 -2.64033204e-03 9.86800844e-01 -3.34453033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-58.06, Z:-33.45 [[ 9.16835085e-01 3.69372505e-01 1.51582913e-01 1.95998025e+02] [-3.64977762e-01 9.29276047e-01 -5.68969366e-02 -5.80621246e+01] [-1.61878534e-01 -3.15928453e-03 9.86805634e-01 -3.34495542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.02, Y:-58.07, Z:-33.45 [[ 9.15815432e-01 3.71854258e-01 1.51678957e-01 1.96024303e+02] [-3.67490041e-01 9.28284090e-01 -5.69185153e-02 -5.80717600e+01] [-1.61966555e-01 -3.61365137e-03 9.86789631e-01 -3.34542990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:-58.08, Z:-33.46 [[ 9.14138946e-01 3.75799908e-01 1.52067143e-01 1.96049864e+02] [-3.71469298e-01 9.26690692e-01 -5.70519286e-02 -5.80810661e+01] [-1.62359316e-01 -4.33488500e-03 9.86722180e-01 -3.34587210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:-58.09, Z:-33.46 [[ 9.13611333e-01 3.76873963e-01 1.52578992e-01 1.96075549e+02] [-3.72530897e-01 9.26253359e-01 -5.72315062e-02 -5.80901589e+01] [-1.62895869e-01 -4.55303608e-03 9.86632761e-01 -3.34634559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:-58.10, Z:-33.47 [[ 9.13223301e-01 3.77647434e-01 1.52988948e-01 1.96101183e+02] [-3.73293731e-01 9.25937458e-01 -5.73725891e-02 -5.80985265e+01] [-1.63324809e-01 -4.71583013e-03 9.86561082e-01 -3.34676882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:-58.11, Z:-33.47 [[ 9.13076929e-01 3.77704193e-01 1.53720738e-01 1.96127339e+02] [-3.73311791e-01 9.25914064e-01 -5.76320425e-02 -5.81064145e+01] [-1.64100057e-01 -4.76327557e-03 9.86432199e-01 -3.34720947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:196.15, Y:-58.12, Z:-33.48 [[ 9.13333274e-01 3.77144303e-01 1.53572477e-01 1.96153039e+02] [-3.72754634e-01 9.26142736e-01 -5.75640027e-02 -5.81159651e+01] [-1.63939970e-01 -4.66973363e-03 9.86459264e-01 -3.34751102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:196.18, Y:-58.13, Z:-33.48 [[ 9.13868500e-01 3.75890515e-01 1.53462323e-01 1.96179186e+02] [-3.71491687e-01 9.26653382e-01 -5.75103124e-02 -5.81259085e+01] [-1.63823961e-01 -4.45311430e-03 9.86479538e-01 -3.34796544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:-58.14, Z:-33.49 [[ 9.14519967e-01 3.74243356e-01 1.53607096e-01 1.96204807e+02] [-3.69815199e-01 9.27321136e-01 -5.75519666e-02 -5.81359818e+01] [-1.63981548e-01 -4.17381622e-03 9.86454576e-01 -3.34861817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:196.23, Y:-58.15, Z:-33.49 [[ 9.16267711e-01 3.69819884e-01 1.53904958e-01 1.96231248e+02] [-3.65314537e-01 9.29097246e-01 -5.76506517e-02 -5.81456249e+01] [-1.64313030e-01 -3.40028793e-03 9.86402386e-01 -3.34892224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:-58.15, Z:-33.50 [[ 9.17412154e-01 3.66902203e-01 1.54070481e-01 1.96255635e+02] [-3.62347967e-01 9.30255029e-01 -5.77021014e-02 -5.81547255e+01] [-1.64495868e-01 -2.89051629e-03 9.86373537e-01 -3.34954399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:-58.16, Z:-33.50 [[ 9.17432643e-01 3.66849020e-01 1.54075117e-01 1.96281976e+02] [-3.62296119e-01 9.30275991e-01 -5.76897183e-02 -5.81644551e+01] [-1.64495799e-01 -2.89438626e-03 9.86373537e-01 -3.35002834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:-58.17, Z:-33.51 [[ 9.18603250e-01 3.64018153e-01 1.53814347e-01 1.96308021e+02] [-3.59442954e-01 9.31388781e-01 -5.75821319e-02 -5.81748324e+01] [-1.64221899e-01 -2.39234988e-03 9.86420521e-01 -3.35052424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.33, Y:-58.18, Z:-33.51 [[ 9.19956287e-01 3.60814365e-01 1.53275646e-01 1.96334404e+02] [-3.56228506e-01 9.32635876e-01 -5.73722411e-02 -5.81848125e+01] [-1.63651095e-01 -1.82120040e-03 9.86516600e-01 -3.35089663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:-58.19, Z:-33.52 [[ 9.22494941e-01 3.54451376e-01 1.52863684e-01 1.96362704e+02] [-3.49804726e-01 9.35074188e-01 -5.72094170e-02 -5.81948969e+01] [-1.63216841e-01 -6.97041122e-04 9.86589974e-01 -3.35155734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:-58.21, Z:-33.52 [[ 9.23766808e-01 3.51171019e-01 1.52754053e-01 1.96390641e+02] [-3.46486485e-01 9.36311327e-01 -5.71682968e-02 -5.82055214e+01] [-1.63101199e-01 -1.17039696e-04 9.86609338e-01 -3.35209722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:196.42, Y:-58.22, Z:-33.52 [[ 9.25983413e-01 3.45038019e-01 1.53308461e-01 1.96420033e+02] [-3.40235311e-01 9.38588209e-01 -5.73768809e-02 -5.82189479e+01] [-1.63690719e-01 9.69088054e-04 9.86511231e-01 -3.35249293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:-58.23, Z:-33.53 [[ 9.27056656e-01 3.42175322e-01 1.53238396e-01 1.96449881e+02] [-3.37333182e-01 9.39634924e-01 -5.73806016e-02 -5.82311587e+01] [-1.63622374e-01 1.50267297e-03 9.86521901e-01 -3.35320391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-58.24, Z:-33.54 [[ 9.28031249e-01 3.39661337e-01 1.52931937e-01 1.96479717e+02] [-3.34799041e-01 9.40545733e-01 -5.73003206e-02 -5.82426125e+01] [-1.63302185e-01 1.97502211e-03 9.86574121e-01 -3.35371672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:-58.26, Z:-33.54 [[ 9.29768408e-01 3.34812882e-01 1.53072014e-01 1.96509136e+02] [-3.29870899e-01 9.42280293e-01 -5.73850110e-02 -5.82550981e+01] [-1.63449983e-01 2.86076736e-03 9.86547474e-01 -3.35423610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-58.27, Z:-33.55 [[ 9.30373575e-01 3.32892942e-01 1.53581574e-01 1.96539467e+02] [-3.27886988e-01 9.42959073e-01 -5.76047651e-02 -5.82673333e+01] [-1.63997359e-01 3.23655130e-03 9.86455468e-01 -3.35477480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:196.57, Y:-58.28, Z:-33.55 [[ 9.30978829e-01 3.31285717e-01 1.53389028e-01 1.96569440e+02] [-3.26265108e-01 9.43523814e-01 -5.75664043e-02 -5.82795518e+01] [-1.63797128e-01 3.54761601e-03 9.86487666e-01 -3.35508542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.60, Y:-58.29, Z:-33.56 [[ 9.31987433e-01 3.28366694e-01 1.53540674e-01 1.96598764e+02] [-3.23291459e-01 9.44541446e-01 -5.76549161e-02 -5.82940142e+01] [-1.63957485e-01 4.09526865e-03 9.86458905e-01 -3.35584002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.63, Y:-58.31, Z:-33.56 [[ 9.32349306e-01 3.27416739e-01 1.53372260e-01 1.96627659e+02] [-3.22334324e-01 9.44870295e-01 -5.76255976e-02 -5.83070846e+01] [-1.63784477e-01 4.29004235e-03 9.86486817e-01 -3.35637419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:196.66, Y:-58.32, Z:-33.57 [[ 9.32603363e-01 3.26875318e-01 1.52982002e-01 1.96657607e+02] [-3.21808357e-01 9.45057262e-01 -5.74991608e-02 -5.83205042e+01] [-1.63371808e-01 4.39302409e-03 9.86554790e-01 -3.35678192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:-58.33, Z:-33.57 [[ 9.33049200e-01 3.25717697e-01 1.52732354e-01 1.96685259e+02] [-3.20646490e-01 9.45455783e-01 -5.74385802e-02 -5.83346408e+01] [-1.63110449e-01 4.61992827e-03 9.86596999e-01 -3.35749579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:-58.35, Z:-33.58 [[ 9.33173466e-01 3.25513256e-01 1.52408667e-01 1.96714666e+02] [-3.20455903e-01 9.45525919e-01 -5.73476266e-02 -5.83479183e+01] [-1.62773758e-01 4.67502642e-03 9.86652344e-01 -3.35802076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.74, Y:-58.36, Z:-33.59 [[ 9.33200945e-01 3.25502013e-01 1.52264364e-01 1.96744250e+02] [-3.20448800e-01 9.45529648e-01 -5.73258311e-02 -5.83612286e+01] [-1.62630144e-01 4.70358701e-03 9.86675890e-01 -3.35856131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:-58.38, Z:-33.59 [[ 9.32949806e-01 3.26356484e-01 1.51974026e-01 1.96771875e+02] [-3.21328376e-01 9.45235678e-01 -5.72502179e-02 -5.83767156e+01] [-1.62335251e-01 4.57801267e-03 9.86725042e-01 -3.35902272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:-58.39, Z:-33.60 [[ 9.32568105e-01 3.27482330e-01 1.51894875e-01 1.96800639e+02] [-3.22469055e-01 9.44847010e-01 -5.72523918e-02 -5.83903423e+01] [-1.62266565e-01 4.41035778e-03 9.86737103e-01 -3.35955672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:-58.40, Z:-33.60 [[ 9.31959450e-01 3.29246710e-01 1.51816298e-01 1.96829576e+02] [-3.24258658e-01 9.44234945e-01 -5.72423953e-02 -5.84040110e+01] [-1.62197125e-01 4.11984207e-03 9.86749776e-01 -3.36009499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:-58.42, Z:-33.61 [[ 9.30336945e-01 3.33925797e-01 1.51547784e-01 1.96858594e+02] [-3.29012143e-01 9.42593492e-01 -5.71709536e-02 -5.84198257e+01] [-1.61938811e-01 3.32718921e-03 9.86795192e-01 -3.36061197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:-58.43, Z:-33.61 [[ 9.29267811e-01 3.36910667e-01 1.51500952e-01 1.96888749e+02] [-3.32034207e-01 9.41532344e-01 -5.71850528e-02 -5.84333086e+01] [-1.61909301e-01 2.83673029e-03 9.86801566e-01 -3.36117331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.92, Y:-58.45, Z:-33.62 [[ 9.28067346e-01 3.40269013e-01 1.51353889e-01 1.96917445e+02] [-3.35440716e-01 9.40325365e-01 -5.71640961e-02 -5.84457498e+01] [-1.61773071e-01 2.28187425e-03 9.86825348e-01 -3.36169272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:-58.46, Z:-33.62 [[ 9.25178805e-01 3.47865514e-01 1.51768781e-01 1.96946963e+02] [-3.43108253e-01 9.37543933e-01 -5.73419597e-02 -5.84589921e+01] [-1.62237191e-01 9.78444294e-04 9.86751304e-01 -3.36222421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.98, Y:-58.47, Z:-33.63 [[ 9.23528458e-01 3.52025569e-01 1.52227417e-01 1.96976848e+02] [-3.47291431e-01 9.35990344e-01 -5.75390041e-02 -5.84711422e+01] [-1.62738593e-01 2.71630067e-04 9.86669183e-01 -3.36271833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:-58.48, Z:-33.63 [[ 9.21986610e-01 3.55925052e-01 1.52505897e-01 1.97006187e+02] [-3.51220727e-01 9.34514425e-01 -5.76783405e-02 -5.84829883e+01] [-1.63048127e-01 -3.84574572e-04 9.86618042e-01 -3.36324860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:197.03, Y:-58.49, Z:-33.64 [[ 9.19493980e-01 3.62244738e-01 1.52674721e-01 1.97031620e+02] [-3.57610698e-01 9.32081851e-01 -5.77755279e-02 -5.84934558e+01] [-1.63234217e-01 -1.47386333e-03 9.86586245e-01 -3.36355044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.06, Y:-58.50, Z:-33.64 [[ 9.18566684e-01 3.64503351e-01 1.52880850e-01 1.97058266e+02] [-3.59889473e-01 9.31200164e-01 -5.78430857e-02 -5.85037278e+01] [-1.63446671e-01 -1.88747705e-03 9.86550365e-01 -3.36420591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:-58.51, Z:-33.65 [[ 9.17393728e-01 3.67562910e-01 1.52598345e-01 1.97085999e+02] [-3.63008830e-01 9.29995481e-01 -5.77320892e-02 -5.85139500e+01] [-1.63135946e-01 -2.43148998e-03 9.86600604e-01 -3.36470474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:-58.52, Z:-33.65 [[ 9.17064441e-01 3.68477566e-01 1.52371567e-01 1.97112770e+02] [-3.63950280e-01 9.29633022e-01 -5.76423346e-02 -5.85240005e+01] [-1.62889547e-01 -2.59393901e-03 9.86640901e-01 -3.36523294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.14, Y:-58.53, Z:-33.66 [[ 9.16873778e-01 3.69023282e-01 1.52198199e-01 1.97140430e+02] [-3.64515239e-01 9.29416241e-01 -5.75681424e-02 -5.85345557e+01] [-1.62699463e-01 -2.69584279e-03 9.86671991e-01 -3.36574971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:-58.54, Z:-33.66 [[ 9.16885928e-01 3.68817454e-01 1.52623329e-01 1.97169063e+02] [-3.64281204e-01 9.29498022e-01 -5.77289452e-02 -5.85445121e+01] [-1.63154525e-01 -2.66695248e-03 9.86596923e-01 -3.36623295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:197.20, Y:-58.56, Z:-33.67 [[ 9.17022772e-01 3.68447855e-01 1.52693858e-01 1.97198805e+02] [-3.63902503e-01 9.29644770e-01 -5.77543845e-02 -5.85551792e+01] [-1.63230526e-01 -2.60359158e-03 9.86584521e-01 -3.36658822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:-58.57, Z:-33.67 [[ 9.17273273e-01 3.67803473e-01 1.52742753e-01 1.97227127e+02] [-3.63241320e-01 9.29900289e-01 -5.78030786e-02 -5.85656537e+01] [-1.63295704e-01 -2.46126030e-03 9.86574100e-01 -3.36728826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:-58.58, Z:-33.68 [[ 9.17709778e-01 3.66758129e-01 1.52634327e-01 1.97254687e+02] [-3.62183338e-01 9.30313619e-01 -5.77910021e-02 -5.85758005e+01] [-1.63193113e-01 -2.24624227e-03 9.86591588e-01 -3.36784295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:-58.59, Z:-33.68 [[ 9.18793942e-01 3.64244821e-01 1.52129557e-01 1.97283007e+02] [-3.59666532e-01 9.31301501e-01 -5.75977361e-02 -5.85861833e+01] [-1.62658162e-01 -1.79545911e-03 9.86680849e-01 -3.36843997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:-58.60, Z:-33.69 [[ 9.19306872e-01 3.63056810e-01 1.51870435e-01 1.97311061e+02] [-3.58478094e-01 9.31765662e-01 -5.74996300e-02 -5.85962500e+01] [-1.62383289e-01 -1.58241897e-03 9.86726489e-01 -3.36896106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:-58.61, Z:-33.69 [[ 9.19601897e-01 3.62293358e-01 1.51907449e-01 1.97341162e+02] [-3.57702275e-01 9.32062993e-01 -5.75122582e-02 -5.86071643e+01] [-1.62423621e-01 -1.44925852e-03 9.86720055e-01 -3.36946734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:197.37, Y:-58.62, Z:-33.70 [[ 9.19793461e-01 3.61667024e-01 1.52239789e-01 1.97369972e+02] [-3.57042028e-01 9.32306410e-01 -5.76693000e-02 -5.86170317e+01] [-1.62791215e-01 -1.31215798e-03 9.86659667e-01 -3.36979461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:197.40, Y:-58.63, Z:-33.70 [[ 9.19895298e-01 3.61194257e-01 1.52746027e-01 1.97400118e+02] [-3.56531611e-01 9.32489781e-01 -5.78620688e-02 -5.86270159e+01] [-1.63333556e-01 -1.23174200e-03 9.86570136e-01 -3.37038313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:-58.64, Z:-33.71 [[ 9.20021801e-01 3.60943316e-01 1.52577223e-01 1.97429088e+02] [-3.56282620e-01 9.32587038e-01 -5.78282875e-02 -5.86366786e+01] [-1.63164274e-01 -1.15732747e-03 9.86598237e-01 -3.37100969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.46, Y:-58.64, Z:-33.72 [[ 9.20548243e-01 3.59670953e-01 1.52406491e-01 1.97456495e+02] [-3.54998602e-01 9.33078769e-01 -5.77927526e-02 -5.86428730e+01] [-1.62993635e-01 -9.03074441e-04 9.86626707e-01 -3.37157264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:197.48, Y:-58.65, Z:-33.72 [[ 9.21185007e-01 3.58231061e-01 1.51949628e-01 1.97484945e+02] [-3.53568425e-01 9.33632734e-01 -5.76132549e-02 -5.86519381e+01] [-1.62504004e-01 -6.52124081e-04 9.86707669e-01 -3.37191847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.51, Y:-58.66, Z:-33.73 [[ 9.21950706e-01 3.56236863e-01 1.51994057e-01 1.97511425e+02] [-3.51545210e-01 9.34395636e-01 -5.76260396e-02 -5.86611523e+01] [-1.62551103e-01 -3.04415045e-04 9.86700079e-01 -3.37264357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.54, Y:-58.67, Z:-33.73 [[ 9.22861168e-01 3.53948779e-01 1.51814116e-01 1.97542307e+02] [-3.49238853e-01 9.35264804e-01 -5.75497181e-02 -5.86724941e+01] [-1.62356052e-01 9.10123915e-05 9.86732235e-01 -3.37311064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.57, Y:-58.68, Z:-33.74 [[ 9.24746403e-01 3.49037951e-01 1.51712228e-01 1.97572204e+02] [-3.44262862e-01 9.37108070e-01 -5.75460372e-02 -5.86833404e+01] [-1.62256504e-01 9.86605204e-04 9.86748121e-01 -3.37376963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:-58.69, Z:-33.74 [[ 9.25763651e-01 3.46548257e-01 1.51214976e-01 1.97602427e+02] [-3.41768226e-01 9.38031043e-01 -5.73780572e-02 -5.86948672e+01] [-1.61728607e-01 1.43804555e-03 9.86834226e-01 -3.37438478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:-58.71, Z:-33.75 [[ 9.26643916e-01 3.44357371e-01 1.50827898e-01 1.97632560e+02] [-3.39567670e-01 9.38836827e-01 -5.72643792e-02 -5.87065554e+01] [-1.61322196e-01 1.84741076e-03 9.86900064e-01 -3.37499291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:-58.72, Z:-33.76 [[ 9.27727360e-01 3.41687678e-01 1.50238063e-01 1.97662689e+02] [-3.36895401e-01 9.39810663e-01 -5.70737002e-02 -5.87175007e+01] [-1.60696714e-01 2.33432077e-03 9.87001073e-01 -3.37557031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:-58.73, Z:-33.76 [[ 9.27743685e-01 3.41818821e-01 1.49838411e-01 1.97692653e+02] [-3.37048335e-01 9.39762964e-01 -5.69560503e-02 -5.87272939e+01] [-1.60281239e-01 2.33782920e-03 9.87068619e-01 -3.37610136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.72, Y:-58.74, Z:-33.77 [[ 9.27572823e-01 3.42329802e-01 1.49729636e-01 1.97722540e+02] [-3.37567735e-01 9.39577094e-01 -5.69465365e-02 -5.87372892e+01] [-1.60177033e-01 2.27816570e-03 9.87085674e-01 -3.37662466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:-58.75, Z:-33.77 [[ 9.26933707e-01 3.43829972e-01 1.50249302e-01 1.97751625e+02] [-3.39048826e-01 9.39029669e-01 -5.71767002e-02 -5.87470297e+01] [-1.60747615e-01 2.05716131e-03 9.86993400e-01 -3.37716766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.78, Y:-58.76, Z:-33.78 [[ 9.26682625e-01 3.44213260e-01 1.50919000e-01 1.97780750e+02] [-3.39393478e-01 9.38889353e-01 -5.74356220e-02 -5.87580484e+01] [-1.61466345e-01 2.00366864e-03 9.86876185e-01 -3.37767044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.81, Y:-58.77, Z:-33.78 [[ 9.26586581e-01 3.44271841e-01 1.51374396e-01 1.97808929e+02] [-3.39422791e-01 9.38867874e-01 -5.76132312e-02 -5.87682340e+01] [-1.61955171e-01 2.00372695e-03 9.86796082e-01 -3.37817510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:197.84, Y:-58.78, Z:-33.79 [[ 9.26844240e-01 3.43673818e-01 1.51155752e-01 1.97839635e+02] [-3.38831243e-01 9.39086728e-01 -5.75283121e-02 -5.87789696e+01] [-1.61719336e-01 2.10349322e-03 9.86834551e-01 -3.37858728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:197.87, Y:-58.79, Z:-33.79 [[ 9.27025124e-01 3.43228128e-01 1.51059169e-01 1.97869376e+02] [-3.38380414e-01 9.39249467e-01 -5.75250778e-02 -5.87904968e+01] [-1.61626468e-01 2.21172828e-03 9.86849529e-01 -3.37915858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:-58.80, Z:-33.80 [[ 9.27225914e-01 3.42637736e-01 1.51167084e-01 1.97899793e+02] [-3.37770162e-01 9.39464677e-01 -5.75972095e-02 -5.88023107e+01] [-1.61751113e-01 2.34589463e-03 9.86828797e-01 -3.37993742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:-58.81, Z:-33.81 [[ 9.27426200e-01 3.42079796e-01 1.51202039e-01 1.97928742e+02] [-3.37197042e-01 9.39667645e-01 -5.76443597e-02 -5.88141797e+01] [-1.61798635e-01 2.47600918e-03 9.86820688e-01 -3.38053182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:-58.83, Z:-33.81 [[ 9.27857011e-01 3.41129588e-01 1.50704912e-01 1.97957682e+02] [-3.36261563e-01 9.40012508e-01 -5.74860565e-02 -5.88274299e+01] [-1.61274697e-01 2.66257124e-03 9.86905964e-01 -3.38102441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:-58.84, Z:-33.82 [[ 9.27932798e-01 3.40797474e-01 1.50989417e-01 1.97988219e+02] [-3.35901432e-01 9.40132698e-01 -5.76258510e-02 -5.88399440e+01] [-1.61588833e-01 2.75535573e-03 9.86854324e-01 -3.38154779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:-58.85, Z:-33.82 [[ 9.27910424e-01 3.40461746e-01 1.51881676e-01 1.98017564e+02] [-3.35497234e-01 9.40254010e-01 -5.80000282e-02 -5.88518592e+01] [-1.62554145e-01 2.86294873e-03 9.86695471e-01 -3.38205945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.05, Y:-58.86, Z:-33.83 [[ 9.27825528e-01 3.40519155e-01 1.52271123e-01 1.98046776e+02] [-3.35524542e-01 9.40233137e-01 -5.81801584e-02 -5.88635591e+01] [-1.62981814e-01 2.89033741e-03 9.86624840e-01 -3.38255994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:-58.88, Z:-33.83 [[ 9.27581956e-01 3.40994823e-01 1.52690028e-01 1.98076599e+02] [-3.35974190e-01 9.40060878e-01 -5.83685553e-02 -5.88756281e+01] [-1.63441297e-01 2.84171019e-03 9.86548968e-01 -3.38307896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:-58.89, Z:-33.84 [[ 9.27252144e-01 3.41757788e-01 1.52987174e-01 1.98105431e+02] [-3.36722167e-01 9.39784061e-01 -5.85158226e-02 -5.88874194e+01] [-1.63773146e-01 2.74474916e-03 9.86494208e-01 -3.38359107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.13, Y:-58.90, Z:-33.84 [[ 9.27240501e-01 3.41792538e-01 1.52980109e-01 1.98134718e+02] [-3.36754341e-01 9.39771382e-01 -5.85342877e-02 -5.88986673e+01] [-1.63772911e-01 2.75864654e-03 9.86494209e-01 -3.38413222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.16, Y:-58.91, Z:-33.85 [[ 9.26633958e-01 3.43327610e-01 1.53217690e-01 1.98163845e+02] [-3.38293583e-01 9.39212394e-01 -5.86304633e-02 -5.89115355e+01] [-1.64033410e-01 2.49641677e-03 9.86451625e-01 -3.38473044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:-58.92, Z:-33.85 [[ 9.26247526e-01 3.44572007e-01 1.52760118e-01 1.98192475e+02] [-3.39580280e-01 9.38757082e-01 -5.84839655e-02 -5.89237823e+01] [-1.63556580e-01 2.29630466e-03 9.86531283e-01 -3.38524993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:-58.93, Z:-33.86 [[ 9.25824860e-01 3.45747500e-01 1.52666289e-01 1.98219730e+02] [-3.40773239e-01 9.38325210e-01 -5.84756390e-02 -5.89346340e+01] [-1.63468433e-01 2.11361447e-03 9.86546301e-01 -3.38579312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:-58.95, Z:-33.86 [[ 9.24626319e-01 3.48981340e-01 1.52571934e-01 1.98247451e+02] [-3.44057620e-01 9.37128412e-01 -5.84353793e-02 -5.89459876e+01] [-1.63372352e-01 1.53735305e-03 9.86563283e-01 -3.38631832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:-58.96, Z:-33.87 [[ 9.24027453e-01 3.50778100e-01 1.52078896e-01 1.98277152e+02] [-3.45910738e-01 9.36457820e-01 -5.82452746e-02 -5.89576911e+01] [-1.62846638e-01 1.21450973e-03 9.86650646e-01 -3.38685738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:-58.97, Z:-33.87 [[ 9.22737055e-01 3.54329347e-01 1.51680720e-01 1.98304269e+02] [-3.49530244e-01 9.35120492e-01 -5.81229182e-02 -5.89690082e+01] [-1.62434405e-01 6.15171271e-04 9.86719152e-01 -3.38744268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:-58.98, Z:-33.88 [[ 9.22278180e-01 3.55733276e-01 1.51184637e-01 1.98331431e+02] [-3.50984083e-01 9.34587449e-01 -5.79350760e-02 -5.89799853e+01] [-1.61904699e-01 3.68855229e-04 9.86806330e-01 -3.38795815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:-58.99, Z:-33.88 [[ 9.21854506e-01 3.56916858e-01 1.50978892e-01 1.98357117e+02] [-3.52196696e-01 9.34136142e-01 -5.78546132e-02 -5.89906778e+01] [-1.61684127e-01 1.59268873e-04 9.86842550e-01 -3.38848549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66587156000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:198.39, Y:-59.00, Z:-33.89 [[ 9.21497065e-01 3.58010656e-01 1.50570678e-01 1.98386411e+02] [-3.53332663e-01 9.33717499e-01 -5.76858846e-02 -5.90031877e+01] [-1.61242638e-01 -4.41652266e-05 9.86914794e-01 -3.38876727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:-59.02, Z:-33.90 [[ 9.20762156e-01 3.59753696e-01 1.50911665e-01 1.98413507e+02] [-3.55072574e-01 9.33047252e-01 -5.78471480e-02 -5.90152269e+01] [-1.61618439e-01 -3.21128547e-04 9.86853270e-01 -3.38951017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:198.44, Y:-59.03, Z:-33.90 [[ 9.20502222e-01 3.60355103e-01 1.51062434e-01 1.98439499e+02] [-3.55670740e-01 9.32815108e-01 -5.79163062e-02 -5.90255283e+01] [-1.61783757e-01 -4.16398989e-04 9.86826146e-01 -3.38974671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:-59.04, Z:-33.90 [[ 9.20208715e-01 3.60806256e-01 1.51772085e-01 1.98466099e+02] [-3.56085267e-01 9.32640653e-01 -5.81781304e-02 -5.90357021e+01] [-1.62539850e-01 -5.07780733e-04 9.86701849e-01 -3.39040693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78587156000003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:198.49, Y:-59.05, Z:-33.91 [[ 9.19583187e-01 3.62264042e-01 1.52090520e-01 1.98492452e+02] [-3.57544226e-01 9.32075192e-01 -5.82920469e-02 -5.90459530e+01] [-1.62876913e-01 -7.74700823e-04 9.86646092e-01 -3.39065859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.52, Y:-59.06, Z:-33.91 [[ 9.19275674e-01 3.63061940e-01 1.52046909e-01 1.98518578e+02] [-3.58357417e-01 9.31764547e-01 -5.82648353e-02 -5.90570234e+01] [-1.62825663e-01 -9.25691707e-04 9.86654421e-01 -3.39141944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:198.54, Y:-59.07, Z:-33.92 [[ 9.19223384e-01 3.63378605e-01 1.51605936e-01 1.98544214e+02] [-3.58706410e-01 9.31641038e-01 -5.80920572e-02 -5.90674200e+01] [-1.62351723e-01 -9.82443794e-04 9.86732463e-01 -3.39165046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:-59.08, Z:-33.92 [[ 9.18808385e-01 3.64245828e-01 1.52039890e-01 1.98569794e+02] [-3.59560321e-01 9.31302129e-01 -5.82470631e-02 -5.90779491e+01] [-1.62811323e-01 -1.14962192e-03 9.86656552e-01 -3.39239906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:198.60, Y:-59.09, Z:-33.93 [[ 9.18916796e-01 3.64285866e-01 1.51286915e-01 1.98599145e+02] [-3.59648920e-01 9.31286457e-01 -5.79498917e-02 -5.90887910e+01] [-1.62001782e-01 -1.15904676e-03 9.86789785e-01 -3.39271671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:-59.10, Z:-33.94 [[ 9.18745788e-01 3.64693330e-01 1.51343818e-01 1.98625807e+02] [-3.60057622e-01 9.31126881e-01 -5.79762014e-02 -5.90989451e+01] [-1.62063832e-01 -1.22710445e-03 9.86779514e-01 -3.39351114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96587156000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:198.65, Y:-59.11, Z:-33.94 [[ 9.18771274e-01 3.64980798e-01 1.50493733e-01 1.98653541e+02] [-3.60401464e-01 9.31014178e-01 -5.76488121e-02 -5.91084253e+01] [-1.61152509e-01 -1.27208922e-03 9.86928696e-01 -3.39372891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:-59.12, Z:-33.94 [[ 9.18704583e-01 3.65051026e-01 1.50730347e-01 1.98678877e+02] [-3.60459459e-01 9.30986613e-01 -5.77313132e-02 -5.91177717e+01] [-1.61402810e-01 -1.29415732e-03 9.86887764e-01 -3.39447840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:-59.13, Z:-33.95 [[ 9.18671030e-01 3.65241022e-01 1.50474367e-01 1.98705425e+02] [-3.60669352e-01 9.30912033e-01 -5.76229514e-02 -5.91277063e+01] [-1.61124665e-01 -1.33495648e-03 9.86933159e-01 -3.39493358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.73, Y:-59.14, Z:-33.95 [[ 9.18463845e-01 3.65385112e-01 1.51386542e-01 1.98731524e+02] [-3.60760778e-01 9.30855427e-01 -5.79640848e-02 -5.91360862e+01] [-1.62098198e-01 -1.37641047e-03 9.86773672e-01 -3.39532817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:-59.15, Z:-33.96 [[ 9.18376284e-01 3.65481658e-01 1.51684407e-01 1.98759500e+02] [-3.60842067e-01 9.30817479e-01 -5.80673980e-02 -5.91460368e+01] [-1.62413066e-01 -1.40639372e-03 9.86721854e-01 -3.39581128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:198.79, Y:-59.16, Z:-33.96 [[ 9.18470246e-01 3.65417328e-01 1.51269903e-01 1.98787308e+02] [-3.60802320e-01 9.30842759e-01 -5.79089269e-02 -5.91560460e+01] [-1.61969419e-01 -1.39090557e-03 9.86794798e-01 -3.39613972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:-59.16, Z:-33.97 [[ 9.18462027e-01 3.65216942e-01 1.51802804e-01 1.98814385e+02] [-3.60567117e-01 9.30921438e-01 -5.81087798e-02 -5.91636589e+01] [-1.62538796e-01 -1.36439178e-03 9.86701210e-01 -3.39678982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:-59.17, Z:-33.97 [[ 9.18448238e-01 3.65253996e-01 1.51797075e-01 1.98841491e+02] [-3.60606051e-01 9.30906882e-01 -5.81003727e-02 -5.91727751e+01] [-1.62530335e-01 -1.37675884e-03 9.86702587e-01 -3.39729828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.87, Y:-59.18, Z:-33.98 [[ 9.18557280e-01 3.65088092e-01 1.51536159e-01 1.98867704e+02] [-3.60455323e-01 9.30971995e-01 -5.79922839e-02 -5.91819465e+01] [-1.62248213e-01 -1.35278078e-03 9.86749050e-01 -3.39761535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.89, Y:-59.19, Z:-33.98 [[ 9.18634554e-01 3.64857362e-01 1.51623420e-01 1.98894777e+02] [-3.60217823e-01 9.31062488e-01 -5.80152055e-02 -5.91916091e+01] [-1.62338153e-01 -1.32268571e-03 9.86734298e-01 -3.39804277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:198.92, Y:-59.20, Z:-33.98 [[ 9.18477825e-01 3.64574994e-01 1.53243461e-01 1.98921520e+02] [-3.59832618e-01 9.31173130e-01 -5.86266909e-02 -5.91998199e+01] [-1.64070018e-01 -1.29468010e-03 9.86447846e-01 -3.39848049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:-59.21, Z:-33.99 [[ 9.18412210e-01 3.64559535e-01 1.53672891e-01 1.98946998e+02] [-3.59791903e-01 9.31179167e-01 -5.87804870e-02 -5.92087266e+01] [-1.64525981e-01 -1.30554478e-03 9.86371886e-01 -3.39907726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:-59.22, Z:-33.99 [[ 9.18531668e-01 3.64464680e-01 1.53183133e-01 1.98974015e+02] [-3.59727998e-01 9.31216313e-01 -5.85828106e-02 -5.92167406e+01] [-1.63997998e-01 -1.29409501e-03 9.86459823e-01 -3.39947353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:-59.22, Z:-34.00 [[ 9.18421954e-01 3.64613483e-01 1.53486554e-01 1.99000691e+02] [-3.59861309e-01 9.31158008e-01 -5.86907333e-02 -5.92246456e+01] [-1.64319667e-01 -1.33101442e-03 9.86406243e-01 -3.39996021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.03, Y:-59.23, Z:-34.00 [[ 9.18274585e-01 3.65012234e-01 1.53420519e-01 1.99027500e+02] [-3.60271749e-01 9.31001649e-01 -5.86531796e-02 -5.92326896e+01] [-1.64243884e-01 -1.41335450e-03 9.86418749e-01 -3.40026073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:-59.24, Z:-34.01 [[ 9.17712522e-01 3.66433677e-01 1.53395197e-01 1.99053355e+02] [-3.61716502e-01 9.30442659e-01 -5.86313119e-02 -5.92393083e+01] [-1.64209923e-01 -1.67888516e-03 9.86423987e-01 -3.40089300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.08, Y:-59.25, Z:-34.01 [[ 9.17513969e-01 3.67115866e-01 1.52951161e-01 1.99078599e+02] [-3.62437890e-01 9.30173462e-01 -5.84474699e-02 -5.92465899e+01] [-1.63728105e-01 -1.80892611e-03 9.86503845e-01 -3.40134242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.10, Y:-59.25, Z:-34.02 [[ 9.17288399e-01 3.67925148e-01 1.52358391e-01 1.99103951e+02] [-3.63296981e-01 9.29853348e-01 -5.82069965e-02 -5.92534288e+01] [-1.63086777e-01 -1.95874077e-03 9.86609784e-01 -3.40183066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:199.13, Y:-59.26, Z:-34.02 [[ 9.16620245e-01 3.69998633e-01 1.51355009e-01 1.99130876e+02] [-3.65461846e-01 9.29029391e-01 -5.78102951e-02 -5.92572766e+01] [-1.62002982e-01 -2.32439415e-03 9.86787531e-01 -3.40211249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:-59.26, Z:-34.03 [[ 9.16251907e-01 3.70844067e-01 1.51516075e-01 1.99157933e+02] [-3.66312655e-01 9.28691791e-01 -5.78497786e-02 -5.92638552e+01] [-1.62164982e-01 -2.49728567e-03 9.86760499e-01 -3.40283660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:-59.27, Z:-34.03 [[ 9.15947893e-01 3.71698349e-01 1.51260683e-01 1.99184829e+02] [-3.67195780e-01 9.28349766e-01 -5.77405476e-02 -5.92703789e+01] [-1.61884885e-01 -2.65495138e-03 9.86806078e-01 -3.40328510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:-59.28, Z:-34.04 [[ 9.15928159e-01 3.71712622e-01 1.51345082e-01 1.99211621e+02] [-3.67206957e-01 9.28344011e-01 -5.77619927e-02 -5.92767123e+01] [-1.61971162e-01 -2.66913121e-03 9.86791882e-01 -3.40379129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:-59.28, Z:-34.04 [[ 9.16780982e-01 3.69761107e-01 1.50961437e-01 1.99238926e+02] [-3.65257245e-01 9.29123895e-01 -5.75841375e-02 -5.92796385e+01] [-1.61554252e-01 -2.34771629e-03 9.86861040e-01 -3.40429835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.27, Y:-59.29, Z:-34.05 [[ 9.17804248e-01 3.67543031e-01 1.50158191e-01 1.99265656e+02] [-3.63061063e-01 9.30004439e-01 -5.72573777e-02 -5.92870049e+01] [-1.60692334e-01 -1.96552799e-03 9.87002589e-01 -3.40462020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:-59.29, Z:-34.05 [[ 9.18973890e-01 3.64453309e-01 1.50534962e-01 1.99291581e+02] [-3.59912479e-01 9.31220522e-01 -5.73702585e-02 -5.92947230e+01] [-1.61090027e-01 -1.45764181e-03 9.86938640e-01 -3.40538033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:-59.30, Z:-34.06 [[ 9.21785554e-01 3.57475715e-01 1.50074998e-01 1.99317571e+02] [-3.52875743e-01 9.33922397e-01 -5.71635121e-02 -5.93009671e+01] [-1.60592969e-01 -2.65326841e-04 9.87020683e-01 -3.40581866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:-59.31, Z:-34.06 [[ 9.23244238e-01 3.53703911e-01 1.50045396e-01 1.99343734e+02] [-3.49058384e-01 9.35357365e-01 -5.71388221e-02 -5.93091094e+01] [-1.60556291e-01 3.78484882e-04 9.87026613e-01 -3.40630179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.37, Y:-59.32, Z:-34.07 [[ 9.26000022e-01 3.46058456e-01 1.50889048e-01 1.99370711e+02] [-3.41260897e-01 9.38211404e-01 -5.74487798e-02 -5.93162411e+01] [-1.61446461e-01 1.70503956e-03 9.86879999e-01 -3.40677237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:-59.33, Z:-34.07 [[ 9.27315123e-01 3.42465291e-01 1.51010557e-01 1.99397983e+02] [-3.37614600e-01 9.39527614e-01 -5.74825605e-02 -5.93255216e+01] [-1.61564370e-01 2.32107882e-03 9.86859446e-01 -3.40729242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:-59.33, Z:-34.08 [[ 9.29739644e-01 3.36034136e-01 1.50549840e-01 1.99425861e+02] [-3.31130627e-01 9.41843593e-01 -5.72988087e-02 -5.93345457e+01] [-1.61048758e-01 3.42131104e-03 9.86940521e-01 -3.40776102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-59.34, Z:-34.08 [[ 9.30672752e-01 3.33346443e-01 1.50759338e-01 1.99453802e+02] [-3.28394809e-01 9.42796389e-01 -5.73743716e-02 -5.93440941e+01] [-1.61260902e-01 3.88818024e-03 9.86904151e-01 -3.40829686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:-59.35, Z:-34.09 [[ 9.31554585e-01 3.30927329e-01 1.50642488e-01 1.99480120e+02] [-3.25952652e-01 9.43646446e-01 -5.73258590e-02 -5.93532187e+01] [-1.61123942e-01 4.29984825e-03 9.86924813e-01 -3.40874426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.51, Y:-59.36, Z:-34.09 [[ 9.32305801e-01 3.28865116e-01 1.50511224e-01 1.99505595e+02] [-3.23873468e-01 9.44365473e-01 -5.72698047e-02 -5.93621436e+01] [-1.60971644e-01 4.64637924e-03 9.86948094e-01 -3.40920447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:199.53, Y:-59.37, Z:-34.09 [[ 9.33304341e-01 3.25864126e-01 1.50849524e-01 1.99532985e+02] [-3.20812183e-01 9.45402484e-01 -5.73906440e-02 -5.93721226e+01] [-1.61315067e-01 5.16857220e-03 9.86889424e-01 -3.40949526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:-59.38, Z:-34.10 [[ 9.33692120e-01 3.24517731e-01 1.51351470e-01 1.99558876e+02] [-3.19415594e-01 9.45864130e-01 -5.75736558e-02 -5.93828944e+01] [-1.61841598e-01 5.41204909e-03 9.86801909e-01 -3.41019027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-59.40, Z:-34.11 [[ 9.34131408e-01 3.23144187e-01 1.51579509e-01 1.99588468e+02] [-3.18010180e-01 9.46332879e-01 -5.76507456e-02 -5.93953092e+01] [-1.62074177e-01 5.64954517e-03 9.86762405e-01 -3.41072598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.62, Y:-59.41, Z:-34.11 [[ 9.35080385e-01 3.20213115e-01 1.51948134e-01 1.99617012e+02] [-3.15010747e-01 9.47325241e-01 -5.78197014e-02 -5.94083769e+01] [-1.62458929e-01 6.20077360e-03 9.86695823e-01 -3.41122145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:-59.42, Z:-34.12 [[ 9.35442040e-01 3.19070092e-01 1.52126484e-01 1.99644954e+02] [-3.13835317e-01 9.47709262e-01 -5.79184635e-02 -5.94205359e+01] [-1.62651728e-01 6.43670221e-03 9.86662548e-01 -3.41177432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-59.43, Z:-34.12 [[ 9.35875092e-01 3.17824209e-01 1.52070981e-01 1.99671941e+02] [-3.12572450e-01 9.48126146e-01 -5.79247386e-02 -5.94325472e+01] [-1.62592358e-01 6.67712078e-03 9.86670736e-01 -3.41229876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:-59.45, Z:-34.13 [[ 9.36048112e-01 3.17268564e-01 1.52166322e-01 1.99700186e+02] [-3.12003780e-01 9.48311546e-01 -5.79556156e-02 -5.94497630e+01] [-1.62688575e-01 6.77277694e-03 9.86654224e-01 -3.41288431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:-59.46, Z:-34.13 [[ 9.35799392e-01 3.17979356e-01 1.52212440e-01 1.99728838e+02] [-3.12715313e-01 9.48074086e-01 -5.80056859e-02 -5.94632671e+01] [-1.62753280e-01 6.68252483e-03 9.86644168e-01 -3.41339549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.76, Y:-59.48, Z:-34.14 [[ 9.35300933e-01 3.19437870e-01 1.52222244e-01 1.99758296e+02] [-3.14187325e-01 9.47585215e-01 -5.80395144e-02 -5.94766541e+01] [-1.62783567e-01 6.45811245e-03 9.86640666e-01 -3.41395985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:-59.49, Z:-34.14 [[ 9.34016971e-01 3.23449759e-01 1.51632949e-01 1.99786662e+02] [-3.18287232e-01 9.46227771e-01 -5.78467179e-02 -5.94915264e+01] [-1.62189815e-01 5.76698454e-03 9.86742725e-01 -3.41447547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:-59.51, Z:-34.15 [[ 9.33197937e-01 3.25897680e-01 1.51434189e-01 1.99815811e+02] [-3.20775835e-01 9.45389835e-01 -5.78007272e-02 -5.95052613e+01] [-1.62001466e-01 5.36309099e-03 9.86775943e-01 -3.41505308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.85, Y:-59.52, Z:-34.16 [[ 9.33179447e-01 3.25955096e-01 1.51424553e-01 1.99845862e+02] [-3.20829912e-01 9.45369941e-01 -5.78259599e-02 -5.95168193e+01] [-1.62000887e-01 5.38047133e-03 9.86775944e-01 -3.41560839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.88, Y:-59.53, Z:-34.16 [[ 9.32283757e-01 3.28540056e-01 1.51355303e-01 1.99875693e+02] [-3.23451907e-01 9.44477131e-01 -5.78084180e-02 -5.95309422e+01] [-1.61944004e-01 4.93768772e-03 9.86787596e-01 -3.41619036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.90, Y:-59.55, Z:-34.17 [[ 9.30256549e-01 3.34113218e-01 1.51628201e-01 1.99902941e+02] [-3.29074450e-01 9.42524428e-01 -5.79457350e-02 -5.95467006e+01] [-1.62273719e-01 4.00743262e-03 9.86737645e-01 -3.41673339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.93, Y:-59.56, Z:-34.17 [[ 9.29175496e-01 3.36955746e-01 1.51966193e-01 1.99927896e+02] [-3.31927358e-01 9.41513807e-01 -5.81031843e-02 -5.95586365e+01] [-1.62656471e-01 3.54631820e-03 9.86676389e-01 -3.41719416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:-59.57, Z:-34.18 [[ 9.28051695e-01 3.39900412e-01 1.52275282e-01 1.99954650e+02] [-3.34892513e-01 9.40456565e-01 -5.82104275e-02 -5.95712175e+01] [-1.62994037e-01 3.02643391e-03 9.86622412e-01 -3.41767209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:-59.59, Z:-34.18 [[ 9.26091998e-01 3.45366108e-01 1.51907417e-01 1.99980711e+02] [-3.40456076e-01 9.38465781e-01 -5.80658063e-02 -5.95860882e+01] [-1.62613874e-01 2.05647557e-03 9.86687640e-01 -3.41818391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.01, Y:-59.60, Z:-34.19 [[ 9.25244274e-01 3.47736854e-01 1.51664477e-01 2.00008783e+02] [-3.42874961e-01 9.37590749e-01 -5.79685039e-02 -5.95999143e+01] [-1.62356996e-01 1.63307469e-03 9.86730733e-01 -3.41874782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.04, Y:-59.61, Z:-34.19 [[ 9.24493125e-01 3.49752372e-01 1.51610492e-01 2.00035940e+02] [-3.44920147e-01 9.36841306e-01 -5.79522168e-02 -5.96128431e+01] [-1.62303896e-01 1.28291276e-03 9.86739986e-01 -3.41925254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:-59.63, Z:-34.20 [[ 9.23761174e-01 3.51551918e-01 1.51909654e-01 2.00061738e+02] [-3.46724606e-01 9.36167886e-01 -5.80666635e-02 -5.96251868e+01] [-1.62626387e-01 9.68914154e-04 9.86687245e-01 -3.41979594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:-59.64, Z:-34.20 [[ 9.22704518e-01 3.54479544e-01 1.51527640e-01 2.00086633e+02] [-3.49716138e-01 9.35063661e-01 -5.79186746e-02 -5.96408491e+01] [-1.62218975e-01 4.50161639e-04 9.86754682e-01 -3.42026664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:-59.65, Z:-34.21 [[ 9.22252733e-01 3.55636624e-01 1.51566782e-01 2.00112284e+02] [-3.50886913e-01 9.34624274e-01 -5.79296247e-02 -5.96536468e+01] [-1.62259889e-01 2.42954587e-04 9.86748027e-01 -3.42080031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:-59.67, Z:-34.21 [[ 9.21818867e-01 3.56827699e-01 1.51406636e-01 2.00137514e+02] [-3.52105032e-01 9.34170216e-01 -5.78623709e-02 -5.96658800e+01] [-1.62086466e-01 2.75868431e-05 9.86776559e-01 -3.42127446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.16, Y:-59.68, Z:-34.22 [[ 9.20678159e-01 3.59988532e-01 1.50864130e-01 2.00161596e+02] [-3.55343285e-01 9.32956576e-01 -5.76470143e-02 -5.96799385e+01] [-1.61501946e-01 -5.34208362e-04 9.86872249e-01 -3.42174766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:200.19, Y:-59.69, Z:-34.22 [[ 9.20010831e-01 3.61751650e-01 1.50717663e-01 2.00186578e+02] [-3.57140617e-01 9.32274110e-01 -5.75809222e-02 -5.96912394e+01] [-1.61340169e-01 -8.52326996e-04 9.86898487e-01 -3.42199073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:-59.71, Z:-34.23 [[ 9.18272658e-01 3.65918874e-01 1.51257076e-01 2.00211335e+02] [-3.61332295e-01 9.30645378e-01 -5.77767480e-02 -5.97051192e+01] [-1.61908302e-01 -1.59925856e-03 9.86804512e-01 -3.42263976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:200.24, Y:-59.72, Z:-34.23 [[ 9.17409337e-01 3.68104052e-01 1.51193633e-01 2.00237052e+02] [-3.63552093e-01 9.29782470e-01 -5.77445595e-02 -5.97167944e+01] [-1.61833195e-01 -1.99136357e-03 9.86816118e-01 -3.42289104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:-59.73, Z:-34.24 [[ 9.16492278e-01 3.70194740e-01 1.51650121e-01 2.00263223e+02] [-3.65645152e-01 9.28951131e-01 -5.79087153e-02 -5.97284235e+01] [-1.62313054e-01 -2.37724128e-03 9.86736450e-01 -3.42355939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:-59.74, Z:-34.24 [[ 9.15693787e-01 3.72099950e-01 1.51810792e-01 2.00289404e+02] [-3.67567946e-01 9.28188666e-01 -5.79620998e-02 -5.97393081e+01] [-1.62476751e-01 -2.72524621e-03 9.86708609e-01 -3.42405770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:-59.75, Z:-34.25 [[ 9.14338056e-01 3.75524644e-01 1.51549203e-01 2.00313439e+02] [-3.71056229e-01 9.26806410e-01 -5.78545817e-02 -5.97506585e+01] [-1.62182594e-01 -3.33463022e-03 9.86755130e-01 -3.42451229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:-59.76, Z:-34.25 [[ 9.13764730e-01 3.76986407e-01 1.51377894e-01 2.00339069e+02] [-3.72550323e-01 9.26211784e-01 -5.77753252e-02 -5.97611560e+01] [-1.61988502e-01 -3.60282899e-03 9.86786068e-01 -3.42502857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.37, Y:-59.77, Z:-34.25 [[ 9.12875692e-01 3.79396537e-01 1.50719070e-01 2.00365112e+02] [-3.75033675e-01 9.25225422e-01 -5.75122632e-02 -5.97709584e+01] [-1.61269069e-01 -4.02317969e-03 9.86902276e-01 -3.42542995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:200.39, Y:-59.78, Z:-34.26 [[ 9.12438981e-01 3.80335420e-01 1.50996937e-01 2.00390153e+02] [-3.75971013e-01 9.24839047e-01 -5.76067266e-02 -5.97802760e+01] [-1.61557742e-01 -4.20784844e-03 9.86854290e-01 -3.42574974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.42, Y:-59.79, Z:-34.26 [[ 9.12059578e-01 3.81107835e-01 1.51341150e-01 2.00415550e+02] [-3.76736180e-01 9.24520277e-01 -5.77244162e-02 -5.97903898e+01] [-1.61917190e-01 -4.36758018e-03 9.86794684e-01 -3.42636581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.44, Y:-59.80, Z:-34.27 [[ 9.11823584e-01 3.81612021e-01 1.51492628e-01 2.00440137e+02] [-3.77240290e-01 9.24311780e-01 -5.77710837e-02 -5.97997664e+01] [-1.62072561e-01 -4.47208642e-03 9.86768709e-01 -3.42678087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:-59.81, Z:-34.27 [[ 9.11241582e-01 3.82632708e-01 1.52417159e-01 2.00465498e+02] [-3.78224677e-01 9.23888577e-01 -5.81032688e-02 -5.98079983e+01] [-1.63048683e-01 -4.70181615e-03 9.86606821e-01 -3.42722678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:-59.82, Z:-34.28 [[ 9.11101554e-01 3.82919756e-01 1.52533338e-01 2.00491933e+02] [-3.78511178e-01 9.23769296e-01 -5.81341172e-02 -5.98170325e+01] [-1.63166316e-01 -4.76948900e-03 9.86587049e-01 -3.42765038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:-59.82, Z:-34.28 [[ 9.11037240e-01 3.83187557e-01 1.52244685e-01 2.00517402e+02] [-3.78801313e-01 9.23657987e-01 -5.80128289e-02 -5.98244842e+01] [-1.62851814e-01 -4.81863921e-03 9.86638773e-01 -3.42812887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:-59.83, Z:-34.29 [[ 9.11045527e-01 3.83254294e-01 1.52026951e-01 2.00543598e+02] [-3.78883770e-01 9.23630207e-01 -5.79165684e-02 -5.98331193e+01] [-1.62613458e-01 -4.83591375e-03 9.86678001e-01 -3.42860299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:-59.84, Z:-34.29 [[ 9.10983447e-01 3.83257700e-01 1.52389942e-01 2.00570248e+02] [-3.78868076e-01 9.23628673e-01 -5.80435617e-02 -5.98415596e+01] [-1.62997362e-01 -4.85896016e-03 9.86614540e-01 -3.42908568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:-59.85, Z:-34.30 [[ 9.10944219e-01 3.83210748e-01 1.52742112e-01 2.00598157e+02] [-3.78801956e-01 9.23648081e-01 -5.81661464e-02 -5.98506331e+01] [-1.63369852e-01 -4.87289623e-03 9.86552860e-01 -3.42956675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:200.63, Y:-59.86, Z:-34.30 [[ 9.11226530e-01 3.82640783e-01 1.52486859e-01 2.00625129e+02] [-3.78239533e-01 9.23884903e-01 -5.80649761e-02 -5.98581738e+01] [-1.63098335e-01 -4.76621162e-03 9.86598306e-01 -3.42989238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:-59.87, Z:-34.31 [[ 9.11497037e-01 3.82085287e-01 1.52262882e-01 2.00651568e+02] [-3.77691062e-01 9.24115268e-01 -5.79692424e-02 -5.98662299e+01] [-1.62857648e-01 -4.66953672e-03 9.86638526e-01 -3.43051579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.68, Y:-59.87, Z:-34.31 [[ 9.12170921e-01 3.80488565e-01 1.52225696e-01 2.00678926e+02] [-3.76076278e-01 9.24775187e-01 -5.79438234e-02 -5.98719246e+01] [-1.62821508e-01 -4.39380235e-03 9.86645758e-01 -3.43101828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.70, Y:-59.88, Z:-34.32 [[ 9.12766901e-01 3.78971477e-01 1.52437539e-01 2.00704763e+02] [-3.74527405e-01 9.25399101e-01 -5.80148775e-02 -5.98796863e+01] [-1.63051546e-01 -4.13797614e-03 9.86608874e-01 -3.43150457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.73, Y:-59.89, Z:-34.32 [[ 9.13420608e-01 3.77319257e-01 1.52620347e-01 2.00729866e+02] [-3.72843818e-01 9.26075199e-01 -5.80707593e-02 -5.98875725e+01] [-1.63249134e-01 -3.86052469e-03 9.86577324e-01 -3.43193900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.76, Y:-59.89, Z:-34.32 [[ 9.14822096e-01 3.73661507e-01 1.53224059e-01 2.00756986e+02] [-3.69101555e-01 9.27559501e-01 -5.82873415e-02 -5.98937488e+01] [-1.63904167e-01 -3.23269029e-03 9.86470970e-01 -3.43236305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:200.78, Y:-59.90, Z:-34.33 [[ 9.15654907e-01 3.71675475e-01 1.53079823e-01 2.00782489e+02] [-3.67098486e-01 9.28358238e-01 -5.82209911e-02 -5.99012359e+01] [-1.63752229e-01 -2.88503506e-03 9.86497280e-01 -3.43268887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:-59.91, Z:-34.33 [[ 9.16401032e-01 3.69874109e-01 1.52978076e-01 2.00808042e+02] [-3.65280538e-01 9.29078317e-01 -5.81688057e-02 -5.99094661e+01] [-1.63643748e-01 -2.57396024e-03 9.86516142e-01 -3.43333291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:-59.92, Z:-34.34 [[ 9.17545540e-01 3.67184728e-01 1.52596060e-01 2.00834508e+02] [-3.62579282e-01 9.30145669e-01 -5.80112004e-02 -5.99160950e+01] [-1.63237391e-01 -2.10025151e-03 9.86584585e-01 -3.43381804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.86, Y:-59.92, Z:-34.34 [[ 9.17951593e-01 3.66245534e-01 1.52410897e-01 2.00862413e+02] [-3.61640209e-01 9.30516224e-01 -5.79302734e-02 -5.99237372e+01] [-1.63037516e-01 -1.94072191e-03 9.86617961e-01 -3.43430155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:-59.93, Z:-34.35 [[ 9.18277610e-01 3.65488470e-01 1.52264277e-01 2.00890129e+02] [-3.60883069e-01 9.30814103e-01 -5.78663620e-02 -5.99308968e+01] [-1.62879225e-01 -1.81221517e-03 9.86644350e-01 -3.43484231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:-59.94, Z:-34.35 [[ 9.19102611e-01 3.63555677e-01 1.51913332e-01 2.00917754e+02] [-3.58946729e-01 9.31571306e-01 -5.77247619e-02 -5.99364639e+01] [-1.62504266e-01 -1.47381417e-03 9.86706740e-01 -3.43537038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.94, Y:-59.94, Z:-34.36 [[ 9.19654002e-01 3.62194090e-01 1.51828714e-01 2.00943443e+02] [-3.57573546e-01 9.32101871e-01 -5.76824126e-02 -5.99443509e+01] [-1.62412057e-01 -1.24206997e-03 9.86722241e-01 -3.43586872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.97, Y:-59.95, Z:-34.36 [[ 9.20268195e-01 3.60687621e-01 1.51693404e-01 2.00969737e+02] [-3.56057309e-01 9.32686155e-01 -5.76170936e-02 -5.99519858e+01] [-1.62264110e-01 -9.88366561e-04 9.86746868e-01 -3.43626950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.00, Y:-59.96, Z:-34.37 [[ 9.21498297e-01 3.57474097e-01 1.51832668e-01 2.00995790e+02] [-3.52793767e-01 9.33922953e-01 -5.76582686e-02 -5.99571838e+01] [-1.62411351e-01 -4.33622387e-04 9.86723044e-01 -3.43679038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:-59.97, Z:-34.37 [[ 9.22122704e-01 3.55731801e-01 1.52133512e-01 2.01022716e+02] [-3.51011499e-01 9.34588073e-01 -5.77586438e-02 -5.99650686e+01] [-1.62728753e-01 -1.40055532e-04 9.86670833e-01 -3.43726506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.05, Y:-59.97, Z:-34.38 [[ 9.23349581e-01 3.52664538e-01 1.51833051e-01 2.01050660e+02] [-3.47923680e-01 9.35749738e-01 -5.76328045e-02 -5.99718592e+01] [-1.62402784e-01 3.88911846e-04 9.86724472e-01 -3.43779742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:-59.98, Z:-34.38 [[ 9.23901781e-01 3.51380596e-01 1.51450244e-01 2.01076885e+02] [-3.46648007e-01 9.36232509e-01 -5.74791163e-02 -5.99803000e+01] [-1.61989688e-01 6.05132603e-04 9.86792265e-01 -3.43828853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.10, Y:-59.99, Z:-34.39 [[ 9.24302122e-01 3.50429979e-01 1.51209844e-01 2.01104082e+02] [-3.45701613e-01 9.36588624e-01 -5.73772050e-02 -5.99884917e+01] [-1.61728113e-01 7.60385376e-04 9.86835062e-01 -3.43865698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75587156000003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:201.13, Y:-60.00, Z:-34.39 [[ 9.24463671e-01 3.50063584e-01 1.51070871e-01 2.01131209e+02] [-3.45340458e-01 9.36725585e-01 -5.73161983e-02 -5.99967115e+01] [-1.61576264e-01 8.15859251e-04 9.86859891e-01 -3.43907357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.16, Y:-60.00, Z:-34.40 [[ 9.24304366e-01 3.50469345e-01 1.51104852e-01 2.01159061e+02] [-3.45750812e-01 9.36573913e-01 -5.73208624e-02 -6.00025643e+01] [-1.61610068e-01 7.37297958e-04 9.86854418e-01 -3.43960589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:-60.01, Z:-34.40 [[ 9.24146270e-01 3.50877757e-01 1.51124025e-01 2.01184981e+02] [-3.46164819e-01 9.36421041e-01 -5.73197287e-02 -6.00098421e+01] [-1.61627935e-01 6.57992858e-04 9.86851548e-01 -3.44019575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.21, Y:-60.02, Z:-34.41 [[ 9.23922160e-01 3.51536964e-01 1.50962262e-01 2.01211932e+02] [-3.46844631e-01 9.36173851e-01 -5.72479009e-02 -6.00173441e+01] [-1.61451676e-01 5.32154111e-04 9.86880476e-01 -3.44060157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:-60.02, Z:-34.41 [[ 9.23459659e-01 3.52648686e-01 1.51199080e-01 2.01240338e+02] [-3.47958280e-01 9.35755736e-01 -5.73257200e-02 -6.00226892e+01] [-1.61701246e-01 3.27018167e-04 9.86839703e-01 -3.44122261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90587156000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:201.27, Y:-60.03, Z:-34.41 [[ 9.23275860e-01 3.53257329e-01 1.50900452e-01 2.01266282e+02] [-3.48594938e-01 9.35526170e-01 -5.72044971e-02 -6.00298635e+01] [-1.61379230e-01 2.12397386e-04 9.86892445e-01 -3.44145723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.29, Y:-60.04, Z:-34.42 [[ 9.23157903e-01 3.53456126e-01 1.51156385e-01 2.01292547e+02] [-3.48782863e-01 9.35451089e-01 -5.72867706e-02 -6.00367982e+01] [-1.61647765e-01 1.63978128e-04 9.86848506e-01 -3.44215504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:-60.04, Z:-34.43 [[ 9.22960289e-01 3.53940290e-01 1.51230207e-01 2.01319021e+02] [-3.49270902e-01 9.35268018e-01 -5.73024506e-02 -6.00439133e+01] [-1.61722422e-01 6.75756309e-05 9.86836285e-01 -3.44259284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:201.35, Y:-60.05, Z:-34.43 [[ 9.22824809e-01 3.54350096e-01 1.51097258e-01 2.01345929e+02] [-3.49696438e-01 9.35112832e-01 -5.72397747e-02 -6.00476231e+01] [-1.61575905e-01 -1.58889113e-05 9.86860287e-01 -3.44294776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02587156000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:201.37, Y:-60.05, Z:-34.43 [[ 9.22920825e-01 3.54131394e-01 1.51023528e-01 2.01372515e+02] [-3.49481772e-01 9.35195678e-01 -5.71973349e-02 -6.00543678e+01] [-1.61491922e-01 8.64145611e-06 9.86874034e-01 -3.44339884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-60.06, Z:-34.44 [[ 9.23169249e-01 3.53516238e-01 1.50946373e-01 2.01397799e+02] [-3.48865228e-01 9.35428382e-01 -5.71558789e-02 -6.00611349e+01] [-1.61405053e-01 1.04608928e-04 9.86888240e-01 -3.44406602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:-60.07, Z:-34.45 [[ 9.23917815e-01 3.52436328e-01 1.48877485e-01 2.01425925e+02] [-3.47436422e-01 9.35830990e-01 -5.92308329e-02 -6.00653888e+01] [-1.60199261e-01 2.99896108e-03 9.87080140e-01 -3.44454290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.45, Y:-60.08, Z:-34.45 [[ 9.24062435e-01 3.50976384e-01 1.51407381e-01 2.01450128e+02] [-3.46710831e-01 9.36382070e-01 -5.45913806e-02 -6.00757879e+01] [-1.60935443e-01 -2.04873495e-03 9.86962809e-01 -3.44499305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:-60.08, Z:-34.46 [[ 9.24809207e-01 3.49185616e-01 1.50987870e-01 2.01477905e+02] [-3.44481127e-01 9.37053215e-01 -5.71316481e-02 -6.00800979e+01] [-1.61433219e-01 8.23402616e-04 9.86883295e-01 -3.44553380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.50, Y:-60.09, Z:-34.46 [[ 9.25219297e-01 3.48080955e-01 1.51026160e-01 2.01503454e+02] [-3.43361382e-01 9.37463940e-01 -5.71342581e-02 -6.00872479e+01] [-1.61468926e-01 1.00516736e-03 9.86877285e-01 -3.44581642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.53, Y:-60.10, Z:-34.46 [[ 9.25278098e-01 3.47922751e-01 1.51030466e-01 2.01529764e+02] [-3.43202942e-01 9.37522649e-01 -5.71228722e-02 -6.00969996e+01] [-1.61468829e-01 1.02044232e-03 9.86877285e-01 -3.44630042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:-60.10, Z:-34.47 [[ 9.25730979e-01 3.46687472e-01 1.51095834e-01 2.01555919e+02] [-3.41952189e-01 9.37979924e-01 -5.71170912e-02 -6.01045882e+01] [-1.61526639e-01 1.20750948e-03 9.86867614e-01 -3.44693083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:201.58, Y:-60.11, Z:-34.47 [[ 9.26635202e-01 3.44292823e-01 1.51028657e-01 2.01582452e+02] [-3.39532162e-01 9.38860933e-01 -5.70794144e-02 -6.01104455e+01] [-1.61446938e-01 1.61270832e-03 9.86880076e-01 -3.44729399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:-60.12, Z:-34.48 [[ 9.27250982e-01 3.42682078e-01 1.50912588e-01 2.01607968e+02] [-3.37909936e-01 9.39449555e-01 -5.70211216e-02 -6.01188778e+01] [-1.61314880e-01 1.87802783e-03 9.86901202e-01 -3.44790515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.63, Y:-60.13, Z:-34.48 [[ 9.27816664e-01 3.41264911e-01 1.50646931e-01 2.01634086e+02] [-3.36493120e-01 9.39964793e-01 -5.69084129e-02 -6.01286210e+01] [-1.61023656e-01 2.10891800e-03 9.86948294e-01 -3.44841412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:-60.14, Z:-34.49 [[ 9.28303904e-01 3.39858352e-01 1.50824938e-01 2.01660308e+02] [-3.35058780e-01 9.40473714e-01 -5.69632103e-02 -6.01379426e+01] [-1.61206312e-01 2.34395097e-03 9.86917945e-01 -3.44893500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:-60.15, Z:-34.49 [[ 9.29227268e-01 3.37078270e-01 1.51376761e-01 2.01687112e+02] [-3.32208697e-01 9.41472390e-01 -5.71587364e-02 -6.01457388e+01] [-1.61784009e-01 2.82478014e-03 9.86822150e-01 -3.44934614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.71, Y:-60.15, Z:-34.50 [[ 9.29618481e-01 3.35827085e-01 1.51755223e-01 2.01713587e+02] [-3.30918118e-01 9.41918747e-01 -5.72911322e-02 -6.01544142e+01] [-1.62181003e-01 3.04034257e-03 9.86756342e-01 -3.44981858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.74, Y:-60.16, Z:-34.50 [[ 9.29989531e-01 3.34685864e-01 1.52002776e-01 2.01738786e+02] [-3.29747622e-01 9.42324211e-01 -5.73723543e-02 -6.01628984e+01] [-1.62437612e-01 3.23313500e-03 9.86713519e-01 -3.45023898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:-60.17, Z:-34.51 [[ 9.30380632e-01 3.33326513e-01 1.52595267e-01 2.01763983e+02] [-3.28333580e-01 9.42805064e-01 -5.75818698e-02 -6.01713128e+01] [-1.63061154e-01 3.47090604e-03 9.86609858e-01 -3.45072867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:-60.18, Z:-34.51 [[ 9.30411043e-01 3.33125646e-01 1.52848273e-01 2.01789539e+02] [-3.28116840e-01 9.42875979e-01 -5.76561136e-02 -6.01806019e+01] [-1.63323695e-01 3.49179247e-03 9.86566358e-01 -3.45119492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:-60.19, Z:-34.52 [[ 9.30317643e-01 3.33463089e-01 1.52680883e-01 2.01815387e+02] [-3.28471837e-01 9.42756963e-01 -5.75809106e-02 -6.01898380e+01] [-1.63142074e-01 3.41716677e-03 9.86596669e-01 -3.45168211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:201.84, Y:-60.20, Z:-34.52 [[ 9.30169173e-01 3.34105191e-01 1.52180913e-01 2.01841540e+02] [-3.29157463e-01 9.42530082e-01 -5.73795171e-02 -6.01994396e+01] [-1.62605883e-01 3.28117471e-03 9.86685644e-01 -3.45203342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:-60.21, Z:-34.53 [[ 9.29655722e-01 3.35940775e-01 1.51274699e-01 2.01866069e+02] [-3.31077980e-01 9.41878546e-01 -5.70278488e-02 -6.02077929e+01] [-1.61640373e-01 2.93254434e-03 9.86845373e-01 -3.45263438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:-60.22, Z:-34.53 [[ 9.29217370e-01 3.37089786e-01 1.51411870e-01 2.01892025e+02] [-3.32236447e-01 9.41468585e-01 -5.70600336e-02 -6.02164560e+01] [-1.61783874e-01 2.71663264e-03 9.86822476e-01 -3.45311636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:-60.22, Z:-34.54 [[ 9.28667359e-01 3.38504046e-01 1.51630958e-01 2.01916914e+02] [-3.33657286e-01 9.40961714e-01 -5.71302692e-02 -6.02248837e+01] [-1.62017753e-01 2.46224234e-03 9.86784771e-01 -3.45354349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:-60.23, Z:-34.54 [[ 9.28015779e-01 3.40152921e-01 1.51929934e-01 2.01941894e+02] [-3.35311211e-01 9.40367643e-01 -5.72283883e-02 -6.02338814e+01] [-1.62336398e-01 2.16503705e-03 9.86733098e-01 -3.45399690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:-60.24, Z:-34.54 [[ 9.27482281e-01 3.41695210e-01 1.51726731e-01 2.01966792e+02] [-3.36889271e-01 9.39808944e-01 -5.71381495e-02 -6.02426029e+01] [-1.62117971e-01 1.87951331e-03 9.86769594e-01 -3.45438580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:-60.25, Z:-34.55 [[ 9.26262300e-01 3.45020277e-01 1.51654741e-01 2.01992829e+02] [-3.40266806e-01 9.38594364e-01 -5.70887069e-02 -6.02505625e+01] [-1.62039047e-01 1.27604245e-03 9.86783522e-01 -3.45489411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:-60.26, Z:-34.55 [[ 9.25643796e-01 3.46762426e-01 1.51457526e-01 2.02018716e+02] [-3.42046549e-01 9.37952505e-01 -5.70022503e-02 -6.02593993e+01] [-1.61826205e-01 9.58255047e-04 9.86818809e-01 -3.45539423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.04, Y:-60.27, Z:-34.56 [[ 9.24829073e-01 3.49107170e-01 1.51047576e-01 2.02044594e+02] [-3.44449833e-01 9.37082652e-01 -5.68367492e-02 -6.02676400e+01] [-1.61386180e-01 5.35965613e-04 9.86891186e-01 -3.45594083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.07, Y:-60.28, Z:-34.56 [[ 9.24607650e-01 3.49690194e-01 1.51054497e-01 2.02069835e+02] [-3.45045419e-01 9.36865308e-01 -5.68071606e-02 -6.02763648e+01] [-1.61382625e-01 4.03673203e-04 9.86891831e-01 -3.45642925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:202.09, Y:-60.29, Z:-34.57 [[ 9.24534824e-01 3.49980838e-01 1.50826961e-01 2.02094904e+02] [-3.45356357e-01 9.36756798e-01 -5.67070366e-02 -6.02850841e+01] [-1.61134557e-01 3.38580433e-04 9.86932389e-01 -3.45675367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:-60.29, Z:-34.57 [[ 9.24707075e-01 3.49435908e-01 1.51034336e-01 2.02120694e+02] [-3.44793774e-01 9.36960175e-01 -5.67704517e-02 -6.02939455e+01] [-1.61350793e-01 4.20339572e-04 9.86897029e-01 -3.45734774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:-60.30, Z:-34.58 [[ 9.24890670e-01 3.48779629e-01 1.51426611e-01 2.02145522e+02] [-3.44106449e-01 9.37204618e-01 -5.69056787e-02 -6.03031634e+01] [-1.61765261e-01 5.24657791e-04 9.86829127e-01 -3.45779106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:-60.31, Z:-34.58 [[ 9.25258256e-01 3.47800655e-01 1.51432707e-01 2.02170558e+02] [-3.43116397e-01 9.37568258e-01 -5.68937540e-02 -6.03123991e+01] [-1.61766185e-01 6.82370543e-04 9.86828879e-01 -3.45820112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:-60.32, Z:-34.59 [[ 9.25924334e-01 3.45936291e-01 1.51631828e-01 2.02195960e+02] [-3.41217109e-01 9.38257476e-01 -5.69543147e-02 -6.03220793e+01] [-1.61972261e-01 9.96011849e-04 9.86794809e-01 -3.45867717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:-60.33, Z:-34.59 [[ 9.26254735e-01 3.45076757e-01 1.51572419e-01 2.02221914e+02] [-3.40351852e-01 9.38573782e-01 -5.69198708e-02 -6.03322967e+01] [-1.61903623e-01 1.13434614e-03 9.86805923e-01 -3.45917718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:-60.34, Z:-34.60 [[ 9.26523292e-01 3.44465756e-01 1.51320625e-01 2.02247585e+02] [-3.39750511e-01 9.38798080e-01 -5.68133282e-02 -6.03428210e+01] [-1.61629758e-01 1.22761218e-03 9.86850705e-01 -3.45964718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:-60.35, Z:-34.60 [[ 9.26844984e-01 3.43676588e-01 1.51144895e-01 2.02272086e+02] [-3.38963872e-01 9.39087096e-01 -5.67355179e-02 -6.03526647e+01] [-1.61436890e-01 1.35237120e-03 9.86882111e-01 -3.46010271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:-60.36, Z:-34.61 [[ 9.27371504e-01 3.42128153e-01 1.51427936e-01 2.02296909e+02] [-3.37379431e-01 9.39651919e-01 -5.68277259e-02 -6.03636228e+01] [-1.61731916e-01 1.61174263e-03 9.86833415e-01 -3.46057923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:-60.37, Z:-34.61 [[ 9.27693618e-01 3.41150898e-01 1.51659542e-01 2.02321309e+02] [-3.36376435e-01 9.40006871e-01 -5.69032163e-02 -6.03741429e+01] [-1.61973595e-01 1.77405455e-03 9.86793498e-01 -3.46102378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:-60.39, Z:-34.61 [[ 9.28331729e-01 3.39623951e-01 1.51181260e-01 2.02346396e+02] [-3.34863237e-01 9.40559153e-01 -5.67017881e-02 -6.03862682e+01] [-1.61452203e-01 2.01302283e-03 9.86878480e-01 -3.46148575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:202.37, Y:-60.40, Z:-34.62 [[ 9.28518749e-01 3.39162601e-01 1.51068401e-01 2.02370811e+02] [-3.34404875e-01 9.40725465e-01 -5.66478448e-02 -6.03970208e+01] [-1.61326723e-01 2.08057611e-03 9.86898860e-01 -3.46186438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:-60.41, Z:-34.62 [[ 9.28746419e-01 3.38571767e-01 1.50994195e-01 2.02396376e+02] [-3.33813225e-01 9.40938071e-01 -5.66063377e-02 -6.04082099e+01] [-1.61241494e-01 2.16907434e-03 9.86912598e-01 -3.46243506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:-60.42, Z:-34.63 [[ 9.28892923e-01 3.38387217e-01 1.50505907e-01 2.02419470e+02] [-3.33658999e-01 9.41004423e-01 -5.64123061e-02 -6.04220112e+01] [-1.60715928e-01 2.18334155e-03 9.86998290e-01 -3.46288535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.44, Y:-60.43, Z:-34.63 [[ 9.28883315e-01 3.38417502e-01 1.50497114e-01 2.02443515e+02] [-3.33693662e-01 9.40993591e-01 -5.63879645e-02 -6.04336371e+01] [-1.60699493e-01 2.15790655e-03 9.87001021e-01 -3.46336928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:-60.45, Z:-34.64 [[ 9.28899855e-01 3.38452244e-01 1.50316789e-01 2.02468871e+02] [-3.33743722e-01 9.40981162e-01 -5.62990364e-02 -6.04454401e+01] [-1.60499802e-01 2.12888209e-03 9.87033577e-01 -3.46385361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.49, Y:-60.46, Z:-34.64 [[ 9.28767163e-01 3.38863317e-01 1.50210552e-01 2.02493471e+02] [-3.34168671e-01 9.40833390e-01 -5.62479435e-02 -6.04588456e+01] [-1.60383467e-01 2.04558241e-03 9.87052663e-01 -3.46423408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:-60.47, Z:-34.65 [[ 9.28682386e-01 3.39191185e-01 1.49994555e-01 2.02517581e+02] [-3.34516327e-01 9.40715388e-01 -5.61550159e-02 -6.04695570e+01] [-1.60149473e-01 1.97454647e-03 9.87090800e-01 -3.46468399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40587156000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:202.54, Y:-60.48, Z:-34.65 [[ 9.28296012e-01 3.40058575e-01 1.50421670e-01 2.02543178e+02] [-3.35370518e-01 9.40402502e-01 -5.63005334e-02 -6.04809411e+01] [-1.60602394e-01 1.81656707e-03 9.87017513e-01 -3.46507318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:-60.49, Z:-34.66 [[ 9.27444752e-01 3.42150758e-01 1.50927435e-01 2.02567569e+02] [-3.37460398e-01 9.39643955e-01 -5.64775772e-02 -6.04942903e+01] [-1.61141898e-01 1.44780030e-03 9.86930186e-01 -3.46566143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:-60.51, Z:-34.66 [[ 9.26958105e-01 3.43482164e-01 1.50892925e-01 2.02591575e+02] [-3.38813455e-01 9.39158428e-01 -5.64525519e-02 -6.05050814e+01] [-1.61102807e-01 1.20459738e-03 9.86936895e-01 -3.46606090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:202.62, Y:-60.52, Z:-34.66 [[ 9.26361309e-01 3.45139460e-01 1.50776251e-01 2.02617755e+02] [-3.40502168e-01 9.38550979e-01 -5.63944497e-02 -6.05168004e+01] [-1.60975147e-01 9.01996022e-04 9.86958048e-01 -3.46644191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:-60.53, Z:-34.67 [[ 9.25920049e-01 3.46508192e-01 1.50346721e-01 2.02642792e+02] [-3.41916734e-01 9.38046718e-01 -5.62254533e-02 -6.05273602e+01] [-1.60514828e-01 6.54214520e-04 9.87033212e-01 -3.46700718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:-60.54, Z:-34.67 [[ 9.24595338e-01 3.49996692e-01 1.50418673e-01 2.02668410e+02] [-3.45448316e-01 9.36750935e-01 -5.62418597e-02 -6.05384350e+01] [-1.60589297e-01 3.90839235e-05 9.87021315e-01 -3.46742264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:-60.55, Z:-34.68 [[ 9.23855801e-01 3.51901701e-01 1.50517943e-01 2.02693440e+02] [-3.47374412e-01 9.36036912e-01 -5.62664874e-02 -6.05485867e+01] [-1.60690623e-01 -3.03960968e-04 9.87004778e-01 -3.46786171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.72, Y:-60.56, Z:-34.68 [[ 9.22569346e-01 3.55216392e-01 1.50622432e-01 2.02717356e+02] [-3.50728985e-01 9.34783672e-01 -5.62909047e-02 -6.05595291e+01] [-1.60794843e-01 -8.95389706e-04 9.86987445e-01 -3.46833468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:202.74, Y:-60.57, Z:-34.69 [[ 9.21979959e-01 3.56685120e-01 1.50760341e-01 2.02742958e+02] [-3.52211301e-01 9.34223937e-01 -5.63279195e-02 -6.05697045e+01] [-1.60935250e-01 -1.16628304e-03 9.86964277e-01 -3.46864954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:-60.58, Z:-34.69 [[ 9.21506999e-01 3.57729348e-01 1.51177263e-01 2.02767623e+02] [-3.53246622e-01 9.33824315e-01 -5.64709874e-02 -6.05789348e+01] [-1.61374334e-01 -1.36444749e-03 9.86892326e-01 -3.46919410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:202.79, Y:-60.59, Z:-34.69 [[ 9.20653314e-01 3.59685703e-01 1.51735528e-01 2.02793502e+02] [-3.55198444e-01 9.33071921e-01 -5.66644158e-02 -6.05892381e+01] [-1.61961541e-01 -1.72794108e-03 9.86795558e-01 -3.46946516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:-60.60, Z:-34.70 [[ 9.20534073e-01 3.60064913e-01 1.51559491e-01 2.02819556e+02] [-3.55595210e-01 9.32925508e-01 -5.65865924e-02 -6.05986052e+01] [-1.61768562e-01 -1.80394269e-03 9.86827076e-01 -3.47008616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:-60.61, Z:-34.71 [[ 9.20460282e-01 3.60310319e-01 1.51424383e-01 2.02844312e+02] [-3.55853989e-01 9.32830652e-01 -5.65235678e-02 -6.06070854e+01] [-1.61619331e-01 -1.85727171e-03 9.86851429e-01 -3.47054302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:-60.62, Z:-34.71 [[ 9.20472633e-01 3.60328653e-01 1.51305630e-01 2.02869928e+02] [-3.55881951e-01 9.32823539e-01 -5.64648690e-02 -6.06153884e+01] [-1.61487364e-01 -1.87257625e-03 9.86873003e-01 -3.47103289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:-60.62, Z:-34.71 [[ 9.20766291e-01 3.59527469e-01 1.51424688e-01 2.02895152e+02] [-3.55066601e-01 9.33132853e-01 -5.64870619e-02 -6.06236930e+01] [-1.61608002e-01 -1.75446692e-03 9.86853472e-01 -3.47144284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.92, Y:-60.63, Z:-34.72 [[ 9.21081074e-01 3.58750540e-01 1.51352917e-01 2.02921338e+02] [-3.54285892e-01 9.33432049e-01 -5.64456981e-02 -6.06338671e+01] [-1.61527588e-01 -1.63113906e-03 9.86866849e-01 -3.47189678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:-60.64, Z:-34.72 [[ 9.22254289e-01 3.55760042e-01 1.51267375e-01 2.02946135e+02] [-3.51262474e-01 9.34576665e-01 -5.64015211e-02 -6.06430323e+01] [-1.61436366e-01 -1.11800747e-03 9.86882490e-01 -3.47226147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:-60.65, Z:-34.73 [[ 9.22920821e-01 3.54040938e-01 1.51235486e-01 2.02971845e+02] [-3.49524696e-01 9.35229557e-01 -5.63751955e-02 -6.06527581e+01] [-1.61399024e-01 -8.30695742e-04 9.86888882e-01 -3.47272610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:203.00, Y:-60.66, Z:-34.73 [[ 9.24270738e-01 3.50725337e-01 1.50716091e-01 2.02997424e+02] [-3.46198381e-01 9.36478334e-01 -5.61694919e-02 -6.06637474e+01] [-1.60842418e-01 -2.61849129e-04 9.86980065e-01 -3.47309497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:-60.67, Z:-34.74 [[ 9.25037072e-01 3.48768748e-01 1.50554891e-01 2.03023147e+02] [-3.44227733e-01 9.37208811e-01 -5.60973452e-02 -6.06730181e+01] [-1.60666371e-01 6.69551110e-05 9.87008770e-01 -3.47371117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.05, Y:-60.68, Z:-34.74 [[ 9.25629876e-01 3.47382971e-01 1.50114636e-01 2.03047892e+02] [-3.42852456e-01 9.37723298e-01 -5.59214562e-02 -6.06831350e+01] [-1.60192153e-01 2.95399004e-04 9.87085805e-01 -3.47404184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:203.07, Y:-60.69, Z:-34.75 [[ 9.26296019e-01 3.45936529e-01 1.49343907e-01 2.03073850e+02] [-3.41436275e-01 9.38257767e-01 -5.56204310e-02 -6.06930967e+01] [-1.59364219e-01 5.29556615e-04 9.87219715e-01 -3.47452457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:-60.70, Z:-34.75 [[ 9.27153273e-01 3.43863760e-01 1.48810359e-01 2.03100009e+02] [-3.39371209e-01 9.39019145e-01 -5.54096307e-02 -6.07037474e+01] [-1.58789140e-01 8.71268936e-04 9.87312134e-01 -3.47514066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.13, Y:-60.71, Z:-34.76 [[ 9.27165744e-01 3.43828939e-01 1.48813118e-01 2.03127122e+02] [-3.39337131e-01 9.39031898e-01 -5.54022213e-02 -6.07137587e+01] [-1.58789151e-01 8.69225247e-04 9.87312134e-01 -3.47563915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:-60.72, Z:-34.76 [[ 9.27293359e-01 3.43472292e-01 1.48841564e-01 2.03152487e+02] [-3.38975145e-01 9.39162355e-01 -5.54068727e-02 -6.07238904e+01] [-1.58817119e-01 9.24834347e-04 9.87307585e-01 -3.47609219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.18, Y:-60.73, Z:-34.77 [[ 9.27332669e-01 3.43411876e-01 1.48736026e-01 2.03178500e+02] [-3.38922056e-01 9.39184449e-01 -5.53571219e-02 -6.07344579e+01] [-1.58700856e-01 9.24547670e-04 9.87326280e-01 -3.47657097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:-60.75, Z:-34.77 [[ 9.27335098e-01 3.43585716e-01 1.48318820e-01 2.03204574e+02] [-3.39124712e-01 9.39120905e-01 -5.51938081e-02 -6.07457983e+01] [-1.58253108e-01 8.84578425e-04 9.87398183e-01 -3.47703649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21587156000004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:203.23, Y:-60.76, Z:-34.77 [[ 9.27179548e-01 3.44229068e-01 1.47798628e-01 2.03231414e+02] [-3.39808899e-01 9.38885384e-01 -5.49922508e-02 -6.07569030e+01] [-1.57695903e-01 7.64401100e-04 9.87487427e-01 -3.47736034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:-60.77, Z:-34.78 [[ 9.26787713e-01 3.45391669e-01 1.47543657e-01 2.03256387e+02] [-3.41002776e-01 9.38458461e-01 -5.48891872e-02 -6.07663119e+01] [-1.57421862e-01 5.57827505e-04 9.87531289e-01 -3.47797014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:-60.78, Z:-34.78 [[ 9.26548411e-01 3.46082140e-01 1.47428607e-01 2.03282082e+02] [-3.41710064e-01 9.38204117e-01 -5.48385534e-02 -6.07764082e+01] [-1.57296770e-01 4.32735828e-04 9.87551284e-01 -3.47843372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.31, Y:-60.79, Z:-34.79 [[ 9.26453973e-01 3.46630648e-01 1.46731829e-01 2.03307169e+02] [-3.42308792e-01 9.38001646e-01 -5.45674232e-02 -6.07868637e+01] [-1.56549438e-01 3.26611021e-04 9.87670070e-01 -3.47878725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:-60.80, Z:-34.79 [[ 9.26285418e-01 3.47043808e-01 1.46819347e-01 2.03332579e+02] [-3.42723832e-01 9.37848887e-01 -5.45879122e-02 -6.07979007e+01] [-1.56638758e-01 2.45498013e-04 9.87655932e-01 -3.47934132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:-60.81, Z:-34.80 [[ 9.26143758e-01 3.47278620e-01 1.47157397e-01 2.03359467e+02] [-3.42943543e-01 9.37761975e-01 -5.47010411e-02 -6.08082233e+01] [-1.56995114e-01 1.94348571e-04 9.87599360e-01 -3.47981890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:-60.82, Z:-34.80 [[ 9.25862488e-01 3.47737744e-01 1.47841520e-01 2.03385454e+02] [-3.43369109e-01 9.37591835e-01 -5.49473011e-02 -6.08181289e+01] [-1.57722252e-01 1.09434047e-04 9.87483508e-01 -3.48024840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:-60.83, Z:-34.81 [[ 9.24946808e-01 3.49561919e-01 1.49264419e-01 2.03410046e+02] [-3.45133449e-01 9.36913240e-01 -5.54660514e-02 -6.08285641e+01] [-1.59236630e-01 -2.12996683e-04 9.87240422e-01 -3.48058128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:203.44, Y:-60.84, Z:-34.81 [[ 9.24423927e-01 3.50792425e-01 1.49616434e-01 2.03435986e+02] [-3.46361216e-01 9.36453139e-01 -5.55826148e-02 -6.08391996e+01] [-1.59606739e-01 -4.39430788e-04 9.87180579e-01 -3.48085108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.46, Y:-60.85, Z:-34.81 [[ 9.23691356e-01 3.52458128e-01 1.50224987e-01 2.03460701e+02] [-3.48014385e-01 9.35827291e-01 -5.57966812e-02 -6.08489385e+01] [-1.60250636e-01 -7.41544170e-04 9.87076078e-01 -3.48138229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:-60.86, Z:-34.82 [[ 9.23342748e-01 3.53395883e-01 1.50164976e-01 2.03486869e+02] [-3.48970322e-01 9.35473414e-01 -5.57602506e-02 -6.08589056e+01] [-1.60180786e-01 -9.17297068e-04 9.87087268e-01 -3.48186431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:-60.87, Z:-34.82 [[ 9.23206276e-01 3.53855547e-01 1.49921393e-01 2.03513376e+02] [-3.49452360e-01 9.35299545e-01 -5.56579671e-02 -6.08688285e+01] [-1.59916291e-01 -1.00659994e-03 9.87130066e-01 -3.48235383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57587156000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:203.54, Y:-60.88, Z:-34.83 [[ 9.23117292e-01 3.54407167e-01 1.49164423e-01 2.03539643e+02] [-3.50057103e-01 9.35090552e-01 -5.53686233e-02 -6.08805401e+01] [-1.59105280e-01 -1.10433232e-03 9.87261004e-01 -3.48273991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:-60.89, Z:-34.83 [[ 9.23309324e-01 3.53959098e-01 1.49039754e-01 2.03565008e+02] [-3.49611882e-01 9.35260331e-01 -5.53140499e-02 -6.08899568e+01] [-1.58969881e-01 -1.03409094e-03 9.87282891e-01 -3.48339640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:-60.90, Z:-34.84 [[ 9.23635067e-01 3.53395981e-01 1.48356139e-01 2.03590690e+02] [-3.49083441e-01 9.35473351e-01 -5.50487166e-02 -6.08998936e+01] [-1.58237209e-01 -9.43746355e-04 9.87400676e-01 -3.48389905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:-60.91, Z:-34.84 [[ 9.23970274e-01 3.52679050e-01 1.47974394e-01 2.03616468e+02] [-3.48381639e-01 9.35743981e-01 -5.48947633e-02 -6.09107875e+01] [-1.57826381e-01 -8.30432327e-04 9.87466528e-01 -3.48439556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.64, Y:-60.92, Z:-34.85 [[ 9.24545391e-01 3.51118980e-01 1.48092139e-01 2.03641998e+02] [-3.46796108e-01 9.36330676e-01 -5.49301854e-02 -6.09239728e+01] [-1.57950243e-01 -5.72327507e-04 9.87446907e-01 -3.48490855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.67, Y:-60.94, Z:-34.85 [[ 9.24886121e-01 3.50344523e-01 1.47798438e-01 2.03667962e+02] [-3.46030381e-01 9.36620796e-01 -5.48129546e-02 -6.09351772e+01] [-1.57634509e-01 -4.47008787e-04 9.87497424e-01 -3.48538285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.69, Y:-60.95, Z:-34.86 [[ 9.25102134e-01 3.49828153e-01 1.47669582e-01 2.03693459e+02] [-3.45516333e-01 9.36813818e-01 -5.47570475e-02 -6.09457060e+01] [-1.57494462e-01 -3.66391102e-04 9.87519802e-01 -3.48569953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:-60.96, Z:-34.86 [[ 9.25480003e-01 3.48716619e-01 1.47930674e-01 2.03719069e+02] [-3.44376752e-01 9.37228193e-01 -5.48449439e-02 -6.09553125e+01] [-1.57770141e-01 -1.85986105e-04 9.87475847e-01 -3.48626304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.74, Y:-60.97, Z:-34.87 [[ 9.25469306e-01 3.48687931e-01 1.48065153e-01 2.03744813e+02] [-3.44344529e-01 9.37238861e-01 -5.48649472e-02 -6.09661070e+01] [-1.57903161e-01 -2.09600885e-04 9.87454580e-01 -3.48658650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:-60.98, Z:-34.87 [[ 9.25448044e-01 3.48530757e-01 1.48567256e-01 2.03771151e+02] [-3.44157619e-01 9.37297324e-01 -5.50387175e-02 -6.09761477e+01] [-1.58434378e-01 -1.95079610e-04 9.87369490e-01 -3.48718764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:-60.99, Z:-34.88 [[ 9.25189640e-01 3.49198804e-01 1.48607956e-01 2.03797227e+02] [-3.44833103e-01 9.37048609e-01 -5.50457634e-02 -6.09880669e+01] [-1.58474793e-01 -3.17172639e-04 9.87362972e-01 -3.48767654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:-61.00, Z:-34.88 [[ 9.25057156e-01 3.49451886e-01 1.48837619e-01 2.03823619e+02] [-3.45077158e-01 9.36954238e-01 -5.51226944e-02 -6.09990467e+01] [-1.58716767e-01 -3.68819687e-04 9.87324086e-01 -3.48815182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.85, Y:-61.01, Z:-34.89 [[ 9.24897335e-01 3.49716138e-01 1.49209724e-01 2.03850141e+02] [-3.45324095e-01 9.36855615e-01 -5.52523801e-02 -6.10097931e+01] [-1.59110617e-01 -4.22933940e-04 9.87260671e-01 -3.48852278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:-61.02, Z:-34.89 [[ 9.24813661e-01 3.50014027e-01 1.49029775e-01 2.03876425e+02] [-3.45637779e-01 9.36744335e-01 -5.51776831e-02 -6.10202455e+01] [-1.58915761e-01 -4.81245368e-04 9.87292028e-01 -3.48909214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:-61.03, Z:-34.90 [[ 9.24835745e-01 3.50133908e-01 1.48610534e-01 2.03901454e+02] [-3.45785244e-01 9.36699519e-01 -5.50143369e-02 -6.10302569e+01] [-1.58465800e-01 -5.08104481e-04 9.87364336e-01 -3.48960121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:-61.04, Z:-34.90 [[ 9.24781014e-01 3.50286642e-01 1.48591204e-01 2.03926991e+02] [-3.45942728e-01 9.36642393e-01 -5.49968719e-02 -6.10407125e+01] [-1.58441490e-01 -5.43983471e-04 9.87368218e-01 -3.49011681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.95, Y:-61.05, Z:-34.91 [[ 9.24791650e-01 3.50421134e-01 1.48207400e-01 2.03953111e+02] [-3.46103139e-01 9.36592066e-01 -5.48445039e-02 -6.10530023e+01] [-1.58028548e-01 -5.75306871e-04 9.87434376e-01 -3.49061884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.98, Y:-61.06, Z:-34.91 [[ 9.24745412e-01 3.50564046e-01 1.48157932e-01 2.03979858e+02] [-3.46252040e-01 9.36538564e-01 -5.48182806e-02 -6.10635125e+01] [-1.57972935e-01 -6.07032797e-04 9.87443256e-01 -3.49107222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:-61.07, Z:-34.92 [[ 9.24490645e-01 3.51035734e-01 1.48630283e-01 2.04004960e+02] [-3.46703356e-01 9.36361804e-01 -5.49850478e-02 -6.10735891e+01] [-1.58473437e-01 -6.97455650e-04 9.87362995e-01 -3.49152852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:-61.08, Z:-34.92 [[ 9.24044087e-01 3.51999910e-01 1.49126085e-01 2.04031692e+02] [-3.47652523e-01 9.35999625e-01 -5.51581895e-02 -6.10841900e+01] [-1.58997637e-01 -8.75460895e-04 9.87278575e-01 -3.49192489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:-61.09, Z:-34.92 [[ 9.23607423e-01 3.52978439e-01 1.49517720e-01 2.04058658e+02] [-3.48622095e-01 9.35630862e-01 -5.52948919e-02 -6.10941405e+01] [-1.59411298e-01 -1.05440821e-03 9.87211693e-01 -3.49243902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:-61.10, Z:-34.93 [[ 9.22955104e-01 3.54608705e-01 1.49688150e-01 2.04084562e+02] [-3.50264990e-01 9.35013827e-01 -5.53496159e-02 -6.11032838e+01] [-1.59587946e-01 -1.34530784e-03 9.87182799e-01 -3.49290647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23587156000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:204.11, Y:-61.11, Z:-34.93 [[ 9.22584983e-01 3.55594199e-01 1.49631933e-01 2.04111639e+02] [-3.51268351e-01 9.34639203e-01 -5.53182281e-02 -6.11135334e+01] [-1.59522712e-01 -1.52519596e-03 9.87193080e-01 -3.49316029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:-61.12, Z:-34.94 [[ 9.22424679e-01 3.56038190e-01 1.49564429e-01 2.04138259e+02] [-3.51723414e-01 9.34470020e-01 -5.52849176e-02 -6.11224424e+01] [-1.59447017e-01 -1.60913911e-03 9.87205176e-01 -3.49389015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:-61.13, Z:-34.94 [[ 9.22254337e-01 3.56587872e-01 1.49305148e-01 2.04165420e+02] [-3.52296634e-01 9.34260225e-01 -5.51807306e-02 -6.11321451e+01] [-1.59166640e-01 -1.70903294e-03 9.87250252e-01 -3.49439241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:-61.14, Z:-34.95 [[ 9.21707951e-01 3.58054650e-01 1.49168767e-01 2.04191854e+02] [-3.53791710e-01 9.33698556e-01 -5.51219803e-02 -6.11407050e+01] [-1.59015344e-01 -1.96830547e-03 9.87274150e-01 -3.49488708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:-61.15, Z:-34.95 [[ 9.21623444e-01 3.58444742e-01 1.48753467e-01 2.04217800e+02] [-3.54212358e-01 9.33548717e-01 -5.49581492e-02 -6.11492368e+01] [-1.58568068e-01 -2.03959767e-03 9.87345941e-01 -3.49538121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:204.24, Y:-61.16, Z:-34.96 [[ 9.21528277e-01 3.59051174e-01 1.47877957e-01 2.04244811e+02] [-3.54878410e-01 9.33315416e-01 -5.46227821e-02 -6.11573189e+01] [-1.57629151e-01 -2.14225607e-03 9.87496056e-01 -3.49568340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:-61.16, Z:-34.96 [[ 9.21633000e-01 3.58671662e-01 1.48146051e-01 2.04271380e+02] [-3.54480782e-01 9.33461439e-01 -5.47093851e-02 -6.11649535e+01] [-1.57911332e-01 -2.09295311e-03 9.87451078e-01 -3.49639628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.30, Y:-61.17, Z:-34.97 [[ 9.21771496e-01 3.58364076e-01 1.48028707e-01 2.04298050e+02] [-3.54177209e-01 9.33579671e-01 -5.46580522e-02 -6.11730333e+01] [-1.57784074e-01 -2.04615948e-03 9.87471518e-01 -3.49687152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:-61.18, Z:-34.97 [[ 9.22166223e-01 3.57264004e-01 1.48229178e-01 2.04324600e+02] [-3.53053316e-01 9.34001570e-01 -5.47213277e-02 -6.11804779e+01] [-1.57996246e-01 -1.87064294e-03 9.87437941e-01 -3.49737276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:-61.19, Z:-34.98 [[ 9.22397913e-01 3.56418387e-01 1.48822122e-01 2.04350747e+02] [-3.52164765e-01 9.34324831e-01 -5.49280201e-02 -6.11897860e+01] [-1.58625560e-01 -1.74441649e-03 9.87337272e-01 -3.49784189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:-61.20, Z:-34.98 [[ 9.23072654e-01 3.54209289e-01 1.49908823e-01 2.04375907e+02] [-3.49865951e-01 9.35165150e-01 -5.53168912e-02 -6.11984316e+01] [-1.59783264e-01 -1.38648355e-03 9.87151147e-01 -3.49822319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:-61.21, Z:-34.99 [[ 9.23468043e-01 3.52855082e-01 1.50665404e-01 2.04400995e+02] [-3.48451890e-01 9.35677251e-01 -5.55820245e-02 -6.12063362e+01] [-1.60586591e-01 -1.17142139e-03 9.87021061e-01 -3.49869411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:-61.21, Z:-34.99 [[ 9.23929407e-01 3.51534798e-01 1.50922951e-01 2.04428113e+02] [-3.47102155e-01 9.36174321e-01 -5.56572910e-02 -6.12149474e+01] [-1.60855666e-01 -9.62273798e-04 9.86977471e-01 -3.49919289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:-61.22, Z:-35.00 [[ 9.25295305e-01 3.48162997e-01 1.50369961e-01 2.04454545e+02] [-3.43720013e-01 9.37433934e-01 -5.54452105e-02 -6.12241953e+01] [-1.60265875e-01 -3.81972045e-04 9.87073808e-01 -3.49972285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:-61.23, Z:-35.00 [[ 9.25953742e-01 3.46585333e-01 1.49960909e-01 2.04480431e+02] [-3.42147379e-01 9.38018440e-01 -5.52863229e-02 -6.12334815e+01] [-1.59827526e-01 -1.16154236e-04 9.87144948e-01 -3.50023637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.51, Y:-61.24, Z:-35.01 [[ 9.27349121e-01 3.43067259e-01 1.49427116e-01 2.04507570e+02] [-3.38617436e-01 9.39310719e-01 -5.50781709e-02 -6.12434630e+01] [-1.59254009e-01 4.78066405e-04 9.87237526e-01 -3.50068364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:-61.25, Z:-35.01 [[ 9.28017807e-01 3.41126872e-01 1.49717762e-01 2.04533154e+02] [-3.36635818e-01 9.40016920e-01 -5.51771417e-02 -6.12534788e+01] [-1.59559635e-01 8.05008948e-04 9.87187963e-01 -3.50124934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:-61.26, Z:-35.02 [[ 9.28593050e-01 3.39469319e-01 1.49918407e-01 2.04559521e+02] [-3.34946353e-01 9.40616506e-01 -5.52406497e-02 -6.12644109e+01] [-1.59768234e-01 1.08145971e-03 9.87153961e-01 -3.50171807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:-61.27, Z:-35.02 [[ 9.29094182e-01 3.38094796e-01 1.49919679e-01 2.04584624e+02] [-3.33555251e-01 9.41111147e-01 -5.52331690e-02 -6.12744186e+01] [-1.59765129e-01 1.31031971e-03 9.87154186e-01 -3.50213613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:-61.29, Z:-35.03 [[ 9.29520867e-01 3.36839539e-01 1.50100243e-01 2.04613722e+02] [-3.32274737e-01 9.41560846e-01 -5.52871845e-02 -6.12869254e+01] [-1.59951421e-01 1.51607304e-03 9.87123723e-01 -3.50267459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:-61.30, Z:-35.03 [[ 9.29444956e-01 3.36876972e-01 1.50485814e-01 2.04641237e+02] [-3.32284069e-01 9.41547410e-01 -5.54596411e-02 -6.12978557e+01] [-1.60372605e-01 1.54264499e-03 9.87055342e-01 -3.50320000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.67, Y:-61.31, Z:-35.04 [[ 9.29294516e-01 3.37168804e-01 1.50761070e-01 2.04669515e+02] [-3.32561017e-01 9.41443005e-01 -5.55719201e-02 -6.13092467e+01] [-1.60670072e-01 1.50542595e-03 9.87007022e-01 -3.50369882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:-61.32, Z:-35.04 [[ 9.28609668e-01 3.38970915e-01 1.50939733e-01 2.04698000e+02] [-3.34375797e-01 9.40796094e-01 -5.56375407e-02 -6.13212641e+01] [-1.60863019e-01 1.19496471e-03 9.86976019e-01 -3.50422125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.73, Y:-61.33, Z:-35.05 [[ 9.28031620e-01 3.40561523e-01 1.50914415e-01 2.04728099e+02] [-3.35988431e-01 9.40221782e-01 -5.56306958e-02 -6.13330660e+01] [-1.60838694e-01 9.21547341e-04 9.86980276e-01 -3.50478462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:-61.34, Z:-35.05 [[ 9.26931178e-01 3.43828276e-01 1.50268789e-01 2.04757060e+02] [-3.39331408e-01 9.39032463e-01 -5.54276869e-02 -6.13436516e+01] [-1.60164877e-01 3.86731456e-04 9.87090200e-01 -3.50533318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:-61.35, Z:-35.06 [[ 9.26405419e-01 3.45385027e-01 1.49940595e-01 2.04783586e+02] [-3.40925230e-01 9.38461062e-01 -5.53247015e-02 -6.13530305e+01] [-1.59821734e-01 1.34571295e-04 9.87145883e-01 -3.50584629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:-61.36, Z:-35.06 [[ 9.26417474e-01 3.45351540e-01 1.49943248e-01 2.04810730e+02] [-3.40892471e-01 9.38473386e-01 -5.53175124e-02 -6.13629594e+01] [-1.59821735e-01 1.32585857e-04 9.87145884e-01 -3.50634478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:-61.37, Z:-35.07 [[ 9.25941429e-01 3.46689920e-01 1.49795093e-01 2.04837143e+02] [-3.42258057e-01 9.37979791e-01 -5.52569792e-02 -6.13722464e+01] [-1.59661808e-01 -1.03851280e-04 9.87171766e-01 -3.50683168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:-61.38, Z:-35.07 [[ 9.25356826e-01 3.48057648e-01 1.50235206e-01 2.04862580e+02] [-3.43618730e-01 9.37473067e-01 -5.54113384e-02 -6.13812478e+01] [-1.60127800e-01 -3.48370566e-04 9.87096230e-01 -3.50733533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:-61.39, Z:-35.08 [[ 9.24259934e-01 3.50725649e-01 1.50781607e-01 2.04889942e+02] [-3.46291077e-01 9.36477892e-01 -5.56025965e-02 -6.13904376e+01] [-1.60704898e-01 -8.23072851e-04 9.87002157e-01 -3.50780127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:-61.40, Z:-35.08 [[ 9.23739650e-01 3.52081352e-01 1.50810412e-01 2.04916560e+02] [-3.47664341e-01 9.35968794e-01 -5.56050590e-02 -6.13999337e+01] [-1.60731344e-01 -1.06680474e-03 9.86997618e-01 -3.50831749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:-61.41, Z:-35.09 [[ 9.22813311e-01 3.54436539e-01 1.50964674e-01 2.04943078e+02] [-3.50043068e-01 9.35078890e-01 -5.56535660e-02 -6.14078510e+01] [-1.60889537e-01 -1.48628631e-03 9.86971300e-01 -3.50873548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:-61.42, Z:-35.09 [[ 9.22466070e-01 3.55139619e-01 1.51433819e-01 2.04968892e+02] [-3.50729691e-01 9.34811861e-01 -5.58163806e-02 -6.14160103e+01] [-1.61384739e-01 -1.62361947e-03 9.86890232e-01 -3.50922488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.00, Y:-61.42, Z:-35.10 [[ 9.22355239e-01 3.55399762e-01 1.51498589e-01 2.04995643e+02] [-3.50992760e-01 9.34712874e-01 -5.58204691e-02 -6.14244546e+01] [-1.61446263e-01 -1.68860594e-03 9.86880060e-01 -3.50970452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:-61.43, Z:-35.10 [[ 9.22533751e-01 3.54937578e-01 1.51495193e-01 2.05021659e+02] [-3.50525941e-01 9.34888606e-01 -5.58109200e-02 -6.14319094e+01] [-1.61440523e-01 -1.61553776e-03 9.86881121e-01 -3.51014643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.05, Y:-61.44, Z:-35.11 [[ 9.22663002e-01 3.54500908e-01 1.51730320e-01 2.05048350e+02] [-3.50071351e-01 9.35054383e-01 -5.58869437e-02 -6.14406523e+01] [-1.61688073e-01 -1.55162290e-03 9.86840696e-01 -3.51066608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:-61.45, Z:-35.11 [[ 9.22881279e-01 3.53894979e-01 1.51817290e-01 2.05074324e+02] [-3.49453526e-01 9.35284037e-01 -5.59106745e-02 -6.14488635e+01] [-1.61778795e-01 -1.45417253e-03 9.86825976e-01 -3.51107555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:-61.46, Z:-35.12 [[ 9.23117582e-01 3.52855048e-01 1.52798050e-01 2.05101391e+02] [-3.48343403e-01 9.35677107e-01 -5.62603418e-02 -6.14567356e+01] [-1.62821383e-01 -1.29128199e-03 9.86654717e-01 -3.51155663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:-61.47, Z:-35.12 [[ 9.23233189e-01 3.52580072e-01 1.52734321e-01 2.05127847e+02] [-3.48069843e-01 9.35780813e-01 -5.62285875e-02 -6.14651792e+01] [-1.62750926e-01 -1.25011297e-03 9.86666394e-01 -3.51196565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:205.15, Y:-61.47, Z:-35.12 [[ 9.23418803e-01 3.52046439e-01 1.52843120e-01 2.05154229e+02] [-3.47524189e-01 9.35981807e-01 -5.62582822e-02 -6.14732126e+01] [-1.62863908e-01 -1.16672582e-03 9.86647853e-01 -3.51227682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:-61.48, Z:-35.13 [[ 9.23539896e-01 3.51523113e-01 1.53315240e-01 2.05179487e+02] [-3.46967600e-01 9.36178569e-01 -5.64195914e-02 -6.14799712e+01] [-1.63363232e-01 -1.08967728e-03 9.86565389e-01 -3.51290626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:-61.49, Z:-35.13 [[ 9.23649669e-01 3.51337704e-01 1.53078760e-01 2.05205821e+02] [-3.46796202e-01 9.36248191e-01 -5.63180221e-02 -6.14881848e+01] [-1.63106356e-01 -1.06900993e-03 9.86607913e-01 -3.51343807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.23, Y:-61.50, Z:-35.14 [[ 9.23906890e-01 3.50824997e-01 1.52701930e-01 2.05231324e+02] [-3.46301045e-01 9.36440519e-01 -5.61670755e-02 -6.14959418e+01] [-1.62701089e-01 -9.87689756e-04 9.86674911e-01 -3.51378020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:-61.50, Z:-35.14 [[ 9.24487030e-01 3.49337128e-01 1.52601778e-01 2.05256792e+02] [-3.44801344e-01 9.36996812e-01 -5.61160220e-02 -6.15036867e+01] [-1.62590789e-01 -7.38763541e-04 9.86693311e-01 -3.51445292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.28, Y:-61.51, Z:-35.15 [[ 9.24973254e-01 3.48047069e-01 1.52603137e-01 2.05282741e+02] [-3.43496956e-01 9.37476910e-01 -5.60971038e-02 -6.15128756e+01] [-1.62586350e-01 -5.30392521e-04 9.86694176e-01 -3.51490638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:-61.52, Z:-35.15 [[ 9.25975057e-01 3.45252060e-01 1.52876450e-01 2.05308818e+02] [-3.40649726e-01 9.38509996e-01 -5.61849797e-02 -6.15211742e+01] [-1.62874056e-01 -5.14309649e-05 9.86646867e-01 -3.51538838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:-61.53, Z:-35.16 [[ 9.26512494e-01 3.43840182e-01 1.52802253e-01 2.05334119e+02] [-3.39224933e-01 9.39028165e-01 -5.61475754e-02 -6.15297898e+01] [-1.62791411e-01 1.87096214e-04 9.86660489e-01 -3.51584433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:-61.54, Z:-35.16 [[ 9.26913267e-01 3.42662314e-01 1.53017431e-01 2.05360741e+02] [-3.38020435e-01 9.39458564e-01 -5.62120262e-02 -6.15388281e+01] [-1.63015279e-01 3.80654046e-04 9.86623471e-01 -3.51632589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:-61.55, Z:-35.17 [[ 9.27276866e-01 3.41727680e-01 1.52904569e-01 2.05386814e+02] [-3.37081468e-01 9.39798864e-01 -5.61620786e-02 -6.15471921e+01] [-1.62891677e-01 5.36499670e-04 9.86643813e-01 -3.51678742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:-61.56, Z:-35.17 [[ 9.27412067e-01 3.41278796e-01 1.53087035e-01 2.05412570e+02] [-3.36617292e-01 9.39961923e-01 -5.62172676e-02 -6.15561046e+01] [-1.63081746e-01 6.04829076e-04 9.86612375e-01 -3.51721877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:-61.57, Z:-35.18 [[ 9.27287862e-01 3.41630366e-01 1.53055267e-01 2.05438032e+02] [-3.36977570e-01 9.39834247e-01 -5.61934720e-02 -6.15652533e+01] [-1.63043978e-01 5.31332535e-04 9.86618659e-01 -3.51764773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:-61.57, Z:-35.18 [[ 9.26681706e-01 3.42932827e-01 1.53811873e-01 2.05464264e+02] [-3.38253802e-01 9.39359884e-01 -5.64568297e-02 -6.15731395e+01] [-1.63845603e-01 2.90060540e-04 9.86485952e-01 -3.51811169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:-61.58, Z:-35.19 [[ 9.26354308e-01 3.43621359e-01 1.54246742e-01 2.05490584e+02] [-3.38927097e-01 9.39108267e-01 -5.66046433e-02 -6.15815487e+01] [-1.64304955e-01 1.57554610e-04 9.86409579e-01 -3.51857275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:-61.59, Z:-35.19 [[ 9.26038230e-01 3.44244584e-01 1.54754205e-01 2.05517916e+02] [-3.39529900e-01 9.38880006e-01 -5.67783580e-02 -6.15907113e+01] [-1.64841271e-01 3.52505216e-05 9.86320107e-01 -3.51911435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:-61.60, Z:-35.20 [[ 9.25466328e-01 3.46042081e-01 1.54165346e-01 2.05543960e+02] [-3.41389619e-01 9.38218947e-01 -5.65538284e-02 -6.15993838e+01] [-1.64210853e-01 -2.91784712e-04 9.86425218e-01 -3.51958925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:-61.61, Z:-35.20 [[ 9.25178450e-01 3.46971196e-01 1.53804503e-01 2.05568955e+02] [-3.42355112e-01 9.37875670e-01 -5.64110352e-02 -6.16077568e+01] [-1.63822506e-01 -4.65483873e-04 9.86489721e-01 -3.52007665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:-61.62, Z:-35.21 [[ 9.24954277e-01 3.47583802e-01 1.53769589e-01 2.05595741e+02] [-3.42980670e-01 9.37648738e-01 -5.63835486e-02 -6.16156267e+01] [-1.63779869e-01 -5.87792299e-04 9.86496735e-01 -3.52061178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.62, Y:-61.62, Z:-35.21 [[ 9.24485636e-01 3.49238479e-01 1.52835839e-01 2.05621852e+02] [-3.44715234e-01 9.37033460e-01 -5.60330488e-02 -6.16217374e+01] [-1.62781192e-01 -8.83093355e-04 9.86661798e-01 -3.52116178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:-61.63, Z:-35.22 [[ 9.24235503e-01 3.50046183e-01 1.52500505e-01 2.05648101e+02] [-3.45556235e-01 9.36731869e-01 -5.58953824e-02 -6.16303643e+01] [-1.62418048e-01 -1.03700358e-03 9.86721492e-01 -3.52166513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:-61.64, Z:-35.22 [[ 9.23822221e-01 3.51301195e-01 1.52118289e-01 2.05674061e+02] [-3.46852794e-01 9.36261645e-01 -5.57429119e-02 -6.16368136e+01] [-1.62005071e-01 -1.26611293e-03 9.86789113e-01 -3.52212282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:-61.64, Z:-35.23 [[ 9.23700724e-01 3.51490022e-01 1.52419607e-01 2.05699212e+02] [-3.47028824e-01 9.36190704e-01 -5.58387116e-02 -6.16443395e+01] [-1.62320569e-01 -1.31573872e-03 9.86737200e-01 -3.52258853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:-61.65, Z:-35.23 [[ 9.23657332e-01 3.51390801e-01 1.52910554e-01 2.05725569e+02] [-3.46901664e-01 9.36227949e-01 -5.60041382e-02 -6.16523287e+01] [-1.62838473e-01 -1.31629275e-03 9.86651863e-01 -3.52308602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:-61.66, Z:-35.24 [[ 9.23885558e-01 3.50120446e-01 1.54438173e-01 2.05752906e+02] [-3.45525057e-01 9.36704024e-01 -5.65509224e-02 -6.16594393e+01] [-1.64462493e-01 -1.11567818e-03 9.86382707e-01 -3.52350626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:-61.67, Z:-35.24 [[ 9.24196645e-01 3.49037336e-01 1.55027414e-01 2.05779419e+02] [-3.44393554e-01 9.37108349e-01 -5.67540532e-02 -6.16682055e+01] [-1.65086767e-01 -9.38536431e-04 9.86278601e-01 -3.52394140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:-61.68, Z:-35.24 [[ 9.25192268e-01 3.46199025e-01 1.55452569e-01 2.05805197e+02] [-3.41491830e-01 9.38160987e-01 -5.68972129e-02 -6.16766279e+01] [-1.65537295e-01 -4.44920946e-04 9.86203430e-01 -3.52439737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.83, Y:-61.69, Z:-35.25 [[ 9.25780198e-01 3.44443833e-01 1.55850794e-01 2.05830938e+02] [-3.39690083e-01 9.38806916e-01 -5.70282659e-02 -6.16854376e+01] [-1.65956838e-01 -1.45329932e-04 9.86133007e-01 -3.52492312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:-61.69, Z:-35.25 [[ 9.26976456e-01 3.41288428e-01 1.55681913e-01 2.05856399e+02] [-3.36502931e-01 9.39958533e-01 -5.69537936e-02 -6.16941452e+01] [-1.65772213e-01 4.07405661e-04 9.86163986e-01 -3.52535575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:-61.70, Z:-35.26 [[ 9.27615865e-01 3.39626033e-01 1.55508729e-01 2.05882984e+02] [-3.34830539e-01 9.40560302e-01 -5.68755497e-02 -6.17041195e+01] [-1.65581754e-01 6.89590847e-04 9.86195826e-01 -3.52590919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.91, Y:-61.71, Z:-35.26 [[ 9.28417541e-01 3.37736822e-01 1.54837685e-01 2.05908397e+02] [-3.32958215e-01 9.41240039e-01 -5.66216952e-02 -6.17137665e+01] [-1.64862660e-01 1.01409565e-03 9.86316012e-01 -3.52623226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:-61.72, Z:-35.27 [[ 9.28986335e-01 3.36320329e-01 1.54508983e-01 2.05933198e+02] [-3.31544404e-01 9.41746817e-01 -5.64910779e-02 -6.17235194e+01] [-1.64507441e-01 1.25285067e-03 9.86375046e-01 -3.52687697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:-61.73, Z:-35.27 [[ 9.30210833e-01 3.33467769e-01 1.53320098e-01 2.05959374e+02] [-3.28729434e-01 9.42759913e-01 -5.60419967e-02 -6.17343656e+01] [-1.63232242e-01 1.73004344e-03 9.86586155e-01 -3.52744084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:-61.74, Z:-35.28 [[ 9.30650977e-01 3.32304985e-01 1.53173614e-01 2.05984835e+02] [-3.27561480e-01 9.43170024e-01 -5.59802004e-02 -6.17447337e+01] [-1.63071261e-01 1.92425246e-03 9.86612417e-01 -3.52792363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.01, Y:-61.76, Z:-35.28 [[ 9.31085634e-01 3.30993245e-01 1.53372142e-01 2.06009495e+02] [-3.26221379e-01 9.43630681e-01 -5.60423947e-02 -6.17563582e+01] [-1.63276313e-01 2.14699690e-03 9.86578044e-01 -3.52827071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:-61.77, Z:-35.29 [[ 9.31103396e-01 3.30665234e-01 1.53970675e-01 2.06035762e+02] [-3.25853060e-01 9.43745542e-01 -5.62506439e-02 -6.17668405e+01] [-1.63909271e-01 2.20334981e-03 9.86472958e-01 -3.52883211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.06, Y:-61.78, Z:-35.29 [[ 9.31010421e-01 3.30858264e-01 1.54118155e-01 2.06062279e+02] [-3.26040778e-01 9.43677979e-01 -5.62963925e-02 -6.17773524e+01] [-1.64064036e-01 2.16372484e-03 9.86447318e-01 -3.52935356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:-61.79, Z:-35.30 [[ 9.30699222e-01 3.31708498e-01 1.54170135e-01 2.06087440e+02] [-3.26900708e-01 9.43379799e-01 -5.63070261e-02 -6.17885775e+01] [-1.64118510e-01 2.00657909e-03 9.86438588e-01 -3.52983022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.11, Y:-61.80, Z:-35.30 [[ 9.30508460e-01 3.32304616e-01 1.54037817e-01 2.06112783e+02] [-3.27514973e-01 9.43170224e-01 -5.62483001e-02 -6.17990671e+01] [-1.63975452e-01 1.88982764e-03 9.86462609e-01 -3.53029766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:-61.81, Z:-35.31 [[ 9.30385186e-01 3.32745995e-01 1.53829479e-01 2.06139467e+02] [-3.27977372e-01 9.43014777e-01 -5.61602554e-02 -6.18096164e+01] [-1.63750572e-01 1.79808144e-03 9.86500135e-01 -3.53084958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:-61.82, Z:-35.31 [[ 9.30149274e-01 3.33648178e-01 1.53301080e-01 2.06165093e+02] [-3.28925984e-01 9.42696266e-01 -5.59593313e-02 -6.18202523e+01] [-1.63187084e-01 1.62582296e-03 9.86593803e-01 -3.53133830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.19, Y:-61.83, Z:-35.32 [[ 9.29564676e-01 3.35430242e-01 1.52957727e-01 2.06190449e+02] [-3.30755110e-01 9.42064151e-01 -5.58228734e-02 -6.18317156e+01] [-1.62820671e-01 1.29942138e-03 9.86654823e-01 -3.53185122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:-61.84, Z:-35.32 [[ 9.29258880e-01 3.36322710e-01 1.52856041e-01 2.06214749e+02] [-3.31667706e-01 9.41746120e-01 -5.57743498e-02 -6.18416067e+01] [-1.62709764e-01 1.13139722e-03 9.86673326e-01 -3.53226967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:-61.85, Z:-35.33 [[ 9.28486020e-01 3.38434638e-01 1.52891158e-01 2.06240103e+02] [-3.33808977e-01 9.40989608e-01 -5.57684903e-02 -6.18531979e+01] [-1.62742980e-01 7.43822574e-04 9.86668216e-01 -3.53275776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.26, Y:-61.86, Z:-35.33 [[ 9.27938212e-01 3.39842097e-01 1.53094821e-01 2.06264987e+02] [-3.35224965e-01 9.40482383e-01 -5.58310875e-02 -6.18627563e+01] [-1.62956736e-01 4.86593538e-04 9.86633096e-01 -3.53316179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:206.29, Y:-61.87, Z:-35.33 [[ 9.27394912e-01 3.41277398e-01 1.53194043e-01 2.06291479e+02] [-3.36675996e-01 9.39962599e-01 -5.58532509e-02 -6.18732034e+01] [-1.63058123e-01 2.21263619e-04 9.86616440e-01 -3.53347142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:-61.88, Z:-35.34 [[ 9.25998502e-01 3.44756147e-01 1.53850490e-01 2.06317614e+02] [-3.40163609e-01 9.38692197e-01 -5.60863545e-02 -6.18845616e+01] [-1.63754370e-01 -3.98457707e-04 9.86501063e-01 -3.53413869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.34, Y:-61.89, Z:-35.35 [[ 9.25363643e-01 3.46519374e-01 1.53708981e-01 2.06342867e+02] [-3.41960876e-01 9.38042541e-01 -5.60263443e-02 -6.18946596e+01] [-1.63599777e-01 -7.17715809e-04 9.86526532e-01 -3.53456456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:-61.91, Z:-35.35 [[ 9.24709454e-01 3.48201866e-01 1.53843706e-01 2.06369737e+02] [-3.43660209e-01 9.37419014e-01 -5.60647283e-02 -6.19050701e+01] [-1.63737858e-01 -1.02637570e-03 9.86503350e-01 -3.53504130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:-61.92, Z:-35.36 [[ 9.23558084e-01 3.51296826e-01 1.53723795e-01 2.06394620e+02] [-3.46806161e-01 9.36262805e-01 -5.60129136e-02 -6.19152241e+01] [-1.63603030e-01 -1.58118002e-03 9.86524986e-01 -3.53555486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:206.42, Y:-61.92, Z:-35.36 [[ 9.23188934e-01 3.52380539e-01 1.53460573e-01 2.06419729e+02] [-3.47922608e-01 9.35855103e-01 -5.59024617e-02 -6.19248302e+01] [-1.63315800e-01 -1.78386876e-03 9.86572231e-01 -3.53582439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:206.45, Y:-61.93, Z:-35.36 [[ 9.23230214e-01 3.52270392e-01 1.53465123e-01 2.06446159e+02] [-3.47813026e-01 9.35896581e-01 -5.58899684e-02 -6.19342912e+01] [-1.63315865e-01 -1.77786131e-03 9.86572231e-01 -3.53630857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:206.47, Y:-61.95, Z:-35.37 [[ 9.22536590e-01 3.54239550e-01 1.53103173e-01 2.06471713e+02] [-3.49833675e-01 9.35152264e-01 -5.57372599e-02 -6.19450860e+01] [-1.62919121e-01 -2.14098400e-03 9.86637105e-01 -3.53687915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.50, Y:-61.96, Z:-35.38 [[ 9.22169079e-01 3.55169064e-01 1.53163721e-01 2.06496498e+02] [-3.50774391e-01 9.34799211e-01 -5.57473016e-02 -6.19550434e+01] [-1.62977043e-01 -2.31747316e-03 9.86627140e-01 -3.53750287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:-61.96, Z:-35.38 [[ 9.21990975e-01 3.55708861e-01 1.52983166e-01 2.06521955e+02] [-3.51335543e-01 9.34593655e-01 -5.56600100e-02 -6.19646907e+01] [-1.62775855e-01 -2.43039702e-03 9.86660080e-01 -3.53798304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:-61.97, Z:-35.38 [[ 9.21495301e-01 3.57052573e-01 1.52839360e-01 2.06547282e+02] [-3.52707895e-01 9.34080454e-01 -5.55953726e-02 -6.19731135e+01] [-1.62614730e-01 -2.67677444e-03 9.86686011e-01 -3.53847575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:-61.98, Z:-35.39 [[ 9.21276665e-01 3.57626823e-01 1.52814795e-01 2.06573597e+02] [-3.53293777e-01 9.33860409e-01 -5.55719699e-02 -6.19818082e+01] [-1.62581714e-01 -2.79135708e-03 9.86691134e-01 -3.53892127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:-61.99, Z:-35.39 [[ 9.21092194e-01 3.58104465e-01 1.52808252e-01 2.06598814e+02] [-3.53780376e-01 9.33677062e-01 -5.55570910e-02 -6.19900824e+01] [-1.62568802e-01 -2.88735799e-03 9.86692986e-01 -3.53940964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:-62.00, Z:-35.40 [[ 9.20954805e-01 3.58479521e-01 1.52756929e-01 2.06625056e+02] [-3.54165896e-01 9.33532877e-01 -5.55237363e-02 -6.19984018e+01] [-1.62507738e-01 -2.96644295e-03 9.86702810e-01 -3.53990474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14587156000002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:206.65, Y:-62.01, Z:-35.40 [[ 9.21173510e-01 3.57741021e-01 1.53168946e-01 2.06650511e+02] [-3.53395858e-01 9.33816474e-01 -5.56611263e-02 -6.20073142e+01] [-1.62943953e-01 -2.85571609e-03 9.86631194e-01 -3.54023001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:-62.02, Z:-35.41 [[ 9.21643770e-01 3.56171691e-01 1.53995091e-01 2.06675923e+02] [-3.51759921e-01 9.34416895e-01 -5.59466244e-02 -6.20169281e+01] [-1.63822218e-01 -2.60644305e-03 9.86486435e-01 -3.54085511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:-62.03, Z:-35.41 [[ 9.22219876e-01 3.54727767e-01 1.53878889e-01 2.06701600e+02] [-3.50304775e-01 9.34966653e-01 -5.58920542e-02 -6.20262978e+01] [-1.63698094e-01 -2.35974639e-03 9.86507661e-01 -3.54134109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:-62.04, Z:-35.42 [[ 9.22895588e-01 3.53077647e-01 1.53622618e-01 2.06727920e+02] [-3.48648793e-01 9.35591721e-01 -5.57866472e-02 -6.20357379e+01] [-1.63425068e-01 -2.07508987e-03 9.86553567e-01 -3.54183072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.75, Y:-62.04, Z:-35.42 [[ 9.24393680e-01 3.49328286e-01 1.53186403e-01 2.06753147e+02] [-3.44875502e-01 9.36999325e-01 -5.56161228e-02 -6.20442747e+01] [-1.62963841e-01 -1.41904505e-03 9.86631022e-01 -3.54226597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:-62.05, Z:-35.43 [[ 9.25224541e-01 3.47159459e-01 1.53100812e-01 2.06779682e+02] [-3.42684526e-01 9.37805528e-01 -5.55707448e-02 -6.20529780e+01] [-1.62870698e-01 -1.04986225e-03 9.86646864e-01 -3.54272672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32587156000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:206.81, Y:-62.06, Z:-35.43 [[ 9.26117677e-01 3.45023490e-01 1.52528164e-01 2.06806065e+02] [-3.40555361e-01 9.38593802e-01 -5.53508897e-02 -6.20623946e+01] [-1.62259346e-01 -6.82846429e-04 9.86747910e-01 -3.54300557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:-62.07, Z:-35.44 [[ 9.27327291e-01 3.41423288e-01 1.53278288e-01 2.06831942e+02] [-3.36863930e-01 9.39909642e-01 -5.56107768e-02 -6.20741121e+01] [-1.63054555e-01 -6.45352352e-05 9.86617052e-01 -3.54371469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:-62.08, Z:-35.44 [[ 9.27855065e-01 3.39809766e-01 1.53669454e-01 2.06857694e+02] [-3.35206315e-01 9.40494167e-01 -5.57444883e-02 -6.20846261e+01] [-1.63467747e-01 2.11834380e-04 9.86548656e-01 -3.54418574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.88, Y:-62.10, Z:-35.45 [[ 9.28351922e-01 3.38337877e-01 1.53916179e-01 2.06884626e+02] [-3.33701151e-01 9.41024584e-01 -5.58235953e-02 -6.20951738e+01] [-1.63726145e-01 4.61935755e-04 9.86505720e-01 -3.54460131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:-62.11, Z:-35.45 [[ 9.28929551e-01 3.36427270e-01 1.54617534e-01 2.06910650e+02] [-3.31722967e-01 9.41709117e-01 -5.60697133e-02 -6.21050556e+01] [-1.64468122e-01 7.94626486e-04 9.86382079e-01 -3.54503713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:-62.11, Z:-35.46 [[ 9.29217951e-01 3.35497692e-01 1.54904155e-01 2.06937171e+02] [-3.30764713e-01 9.42040548e-01 -5.61632492e-02 -6.21148992e+01] [-1.64768636e-01 9.51070889e-04 9.86331786e-01 -3.54550350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:-62.12, Z:-35.46 [[ 9.29477817e-01 3.34829148e-01 1.54791568e-01 2.06962957e+02] [-3.30095250e-01 9.42278258e-01 -5.61142586e-02 -6.21248841e+01] [-1.64645419e-01 1.06099719e-03 9.86352250e-01 -3.54599792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:-62.14, Z:-35.47 [[ 9.30075340e-01 3.33354681e-01 1.54384320e-01 2.06988871e+02] [-3.28627364e-01 9.42800585e-01 -5.59563425e-02 -6.21364063e+01] [-1.64206936e-01 1.30870218e-03 9.86425045e-01 -3.54660585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:-62.15, Z:-35.47 [[ 9.30421802e-01 3.32670704e-01 1.53770847e-01 2.07013543e+02] [-3.27973137e-01 9.43041991e-01 -5.57263379e-02 -6.21471949e+01] [-1.63550886e-01 1.41629266e-03 9.86533883e-01 -3.54711316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:-62.16, Z:-35.48 [[ 9.30756687e-01 3.31934793e-01 1.53333893e-01 2.07039652e+02] [-3.27255799e-01 9.43301090e-01 -5.55580299e-02 -6.21580945e+01] [-1.63081672e-01 1.53160212e-03 9.86611384e-01 -3.54764677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.07, Y:-62.17, Z:-35.48 [[ 9.31016578e-01 3.31752731e-01 1.52145514e-01 2.07067834e+02] [-3.27145385e-01 9.43365117e-01 -5.51194490e-02 -6.21698121e+01] [-1.61814799e-01 1.54341797e-03 9.86819937e-01 -3.54793830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:-62.18, Z:-35.49 [[ 9.30862660e-01 3.32032728e-01 1.52476149e-01 2.07094357e+02] [-3.27408877e-01 9.43266676e-01 -5.52395251e-02 -6.21790553e+01] [-1.62167000e-01 1.49836668e-03 9.86762190e-01 -3.54862345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:-62.19, Z:-35.49 [[ 9.30752573e-01 3.32348226e-01 1.52460832e-01 2.07119158e+02] [-3.27730464e-01 9.43155655e-01 -5.52281931e-02 -6.21881034e+01] [-1.62149288e-01 1.43772359e-03 9.86765191e-01 -3.54900363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:-62.20, Z:-35.49 [[ 9.30244139e-01 3.33294464e-01 1.53494764e-01 2.07147569e+02] [-3.28628523e-01 9.42821930e-01 -5.55886903e-02 -6.22001833e+01] [-1.63245633e-01 1.26829561e-03 9.86584641e-01 -3.54946071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:-62.21, Z:-35.50 [[ 9.29881989e-01 3.34052985e-01 1.54039246e-01 2.07175653e+02] [-3.29363268e-01 9.42553604e-01 -5.57901575e-02 -6.22108584e+01] [-1.63827115e-01 1.14339302e-03 9.86488403e-01 -3.54994788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:-62.22, Z:-35.50 [[ 9.29256828e-01 3.35721339e-01 1.54184725e-01 2.07201856e+02] [-3.31045093e-01 9.41960963e-01 -5.58452388e-02 -6.22219422e+01] [-1.63984430e-01 8.52472862e-04 9.86462559e-01 -3.55041619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:-62.23, Z:-35.51 [[ 9.28909781e-01 3.36594756e-01 1.54371592e-01 2.07227222e+02] [-3.31920068e-01 9.41649345e-01 -5.59068768e-02 -6.22317417e+01] [-1.64181870e-01 6.93415380e-04 9.86429842e-01 -3.55089100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:-62.24, Z:-35.51 [[ 9.28633490e-01 3.37351348e-01 1.54382350e-01 2.07256607e+02] [-3.32688087e-01 9.41378652e-01 -5.59005477e-02 -6.22423737e+01] [-1.64190373e-01 5.49952149e-04 9.86428517e-01 -3.55140650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:-62.25, Z:-35.52 [[ 9.28353180e-01 3.38171912e-01 1.54272914e-01 2.07284854e+02] [-3.33525838e-01 9.41084263e-01 -5.58652371e-02 -6.22523719e+01] [-1.64075865e-01 4.08667785e-04 9.86447638e-01 -3.55194699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:-62.26, Z:-35.52 [[ 9.28332427e-01 3.38583766e-01 1.53492471e-01 2.07310605e+02] [-3.33990056e-01 9.40936193e-01 -5.55852745e-02 -6.22631479e+01] [-1.63246893e-01 3.36653665e-04 9.86585191e-01 -3.55248838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:-62.27, Z:-35.53 [[ 9.28454071e-01 3.38284698e-01 1.53416102e-01 2.07334673e+02] [-3.33693426e-01 9.41043740e-01 -5.55461696e-02 -6.22735052e+01] [-1.63161682e-01 3.78122560e-04 9.86599272e-01 -3.55298836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:-62.29, Z:-35.53 [[ 9.28791077e-01 3.37564390e-01 1.52962142e-01 2.07358400e+02] [-3.32992906e-01 9.41302312e-01 -5.53686058e-02 -6.22854972e+01] [-1.62674088e-01 4.90558713e-04 9.86679736e-01 -3.55343919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:-62.30, Z:-35.54 [[ 9.28955259e-01 3.37150720e-01 1.52877461e-01 2.07383698e+02] [-3.32581474e-01 9.41450526e-01 -5.53215189e-02 -6.22956360e+01] [-1.62578256e-01 5.47004383e-04 9.86695501e-01 -3.55390937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:-62.31, Z:-35.54 [[ 9.29083696e-01 3.36691288e-01 1.53109312e-01 2.07411274e+02] [-3.32103826e-01 9.41614887e-01 -5.53936210e-02 -6.23083659e+01] [-1.62820557e-01 6.17121790e-04 9.86655505e-01 -3.55442111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:207.44, Y:-62.32, Z:-35.55 [[ 9.29106404e-01 3.36583647e-01 1.53208157e-01 2.07439469e+02] [-3.31988765e-01 9.41653356e-01 -5.54293822e-02 -6.23200365e+01] [-1.62925599e-01 6.36407125e-04 9.86638153e-01 -3.55487597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:-62.33, Z:-35.55 [[ 9.29156485e-01 3.36467541e-01 1.53159459e-01 2.07466151e+02] [-3.31874018e-01 9.41694835e-01 -5.54118517e-02 -6.23312405e+01] [-1.62873761e-01 6.56636273e-04 9.86646698e-01 -3.55547989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:-62.34, Z:-35.56 [[ 9.29321903e-01 3.35987520e-01 1.53209620e-01 2.07493972e+02] [-3.31384850e-01 9.41866148e-01 -5.54277977e-02 -6.23428204e+01] [-1.62926003e-01 7.38919544e-04 9.86638014e-01 -3.55603285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:-62.36, Z:-35.57 [[ 9.29177915e-01 3.36185242e-01 1.53648579e-01 2.07522721e+02] [-3.31558537e-01 9.41795617e-01 -5.55873487e-02 -6.23578723e+01] [-1.63393205e-01 7.07038602e-04 9.86560774e-01 -3.55660598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:-62.37, Z:-35.57 [[ 9.29045547e-01 3.36634834e-01 1.53464524e-01 2.07551905e+02] [-3.32019693e-01 9.41635042e-01 -5.55551172e-02 -6.23704476e+01] [-1.63209361e-01 6.59990232e-04 9.86591237e-01 -3.55709495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:-62.38, Z:-35.58 [[ 9.28731596e-01 3.37597909e-01 1.53249061e-01 2.07580385e+02] [-3.33003460e-01 9.41290274e-01 -5.55095985e-02 -6.23835665e+01] [-1.62991775e-01 5.21050688e-04 9.86627290e-01 -3.55761130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:207.61, Y:-62.40, Z:-35.58 [[ 9.28460591e-01 3.38420895e-01 1.53075892e-01 2.07610644e+02] [-3.33845482e-01 9.40994764e-01 -5.54621377e-02 -6.23961139e+01] [-1.62813159e-01 3.90714052e-04 9.86656841e-01 -3.55804893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:-62.41, Z:-35.59 [[ 9.28104617e-01 3.39457687e-01 1.52938869e-01 2.07640330e+02] [-3.34899059e-01 9.40621295e-01 -5.54454645e-02 -6.24091259e+01] [-1.62678946e-01 2.40108252e-04 9.86679027e-01 -3.55878947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:207.67, Y:-62.42, Z:-35.59 [[ 9.27453876e-01 3.41440795e-01 1.52471282e-01 2.07669065e+02] [-3.36931173e-01 9.39903281e-01 -5.53100937e-02 -6.24231119e+01] [-1.62193381e-01 -7.47672566e-05 9.86758989e-01 -3.55916470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:207.70, Y:-62.43, Z:-35.60 [[ 9.27063130e-01 3.42633019e-01 1.52172824e-01 2.07698841e+02] [-3.38151905e-01 9.39469292e-01 -5.52334875e-02 -6.24349994e+01] [-1.61886512e-01 -2.52600585e-04 9.86809350e-01 -3.55973396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:-62.45, Z:-35.60 [[ 9.26591388e-01 3.43874772e-01 1.52245001e-01 2.07727958e+02] [-3.39400449e-01 9.39015415e-01 -5.52936294e-02 -6.24464591e+01] [-1.61974487e-01 -4.37420782e-04 9.86794849e-01 -3.56048413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.76, Y:-62.46, Z:-35.61 [[ 9.26156251e-01 3.45064049e-01 1.52201845e-01 2.07757193e+02] [-3.40603045e-01 9.38578938e-01 -5.53095084e-02 -6.24596849e+01] [-1.61938769e-01 -6.15164872e-04 9.86800617e-01 -3.56091785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:-62.47, Z:-35.62 [[ 9.26019027e-01 3.45179485e-01 1.52773964e-01 2.07786340e+02] [-3.40681067e-01 9.38536495e-01 -5.55486959e-02 -6.24737456e+01] [-1.62558211e-01 -6.08047795e-04 9.86698768e-01 -3.56164439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:-62.49, Z:-35.62 [[ 9.26020599e-01 3.45105040e-01 1.52932542e-01 2.07815780e+02] [-3.40590645e-01 9.38563900e-01 -5.56400816e-02 -6.24862772e+01] [-1.62738636e-01 -5.63531646e-04 9.86669052e-01 -3.56220557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:-62.50, Z:-35.63 [[ 9.26033584e-01 3.45164408e-01 1.52719782e-01 2.07845674e+02] [-3.40658316e-01 9.38542080e-01 -5.55938482e-02 -6.24989465e+01] [-1.62522960e-01 -5.43493229e-04 9.86704612e-01 -3.56272527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49587156000004 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:207.88, Y:-62.51, Z:-35.63 [[ 9.25955623e-01 3.45432551e-01 1.52586166e-01 2.07875728e+02] [-3.40932585e-01 9.38443414e-01 -5.55781556e-02 -6.25114303e+01] [-1.62391987e-01 -5.58690423e-04 9.86726168e-01 -3.56308294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:-62.52, Z:-35.64 [[ 9.25383789e-01 3.46879389e-01 1.52772811e-01 2.07905429e+02] [-3.42382291e-01 9.37909420e-01 -5.56802257e-02 -6.25245685e+01] [-1.62601381e-01 -7.81126854e-04 9.86691533e-01 -3.56383746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:-62.54, Z:-35.64 [[ 9.24602036e-01 3.49175537e-01 1.52274484e-01 2.07935022e+02] [-3.44733297e-01 9.37056628e-01 -5.55322386e-02 -6.25377590e+01] [-1.62080314e-01 -1.14886398e-03 9.86776901e-01 -3.56439819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:-62.55, Z:-35.65 [[ 9.24171957e-01 3.50445304e-01 1.51968030e-01 2.07965814e+02] [-3.46032535e-01 9.36582245e-01 -5.54543233e-02 -6.25493843e+01] [-1.61764266e-01 -1.33655236e-03 9.86828524e-01 -3.56493828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:-62.56, Z:-35.66 [[ 9.23696295e-01 3.51768199e-01 1.51803454e-01 2.07995014e+02] [-3.47377212e-01 9.36085883e-01 -5.54282615e-02 -6.25606823e+01] [-1.61598970e-01 -1.53418060e-03 9.86855318e-01 -3.56551174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:-62.57, Z:-35.66 [[ 9.23273561e-01 3.52869924e-01 1.51818143e-01 2.08025057e+02] [-3.48487697e-01 9.35670848e-01 -5.54652036e-02 -6.25724163e+01] [-1.61623813e-01 -1.69719892e-03 9.86850983e-01 -3.56607849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67587156000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:208.06, Y:-62.58, Z:-35.67 [[ 9.22616661e-01 3.54382165e-01 1.52288471e-01 2.08055713e+02] [-3.49987443e-01 9.35098676e-01 -5.56709684e-02 -6.25832710e+01] [-1.62133546e-01 -1.93608977e-03 9.86766925e-01 -3.56651006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:-62.59, Z:-35.67 [[ 9.22265451e-01 3.55202834e-01 1.52503722e-01 2.08085145e+02] [-3.50801005e-01 9.34787004e-01 -5.57845169e-02 -6.25934856e+01] [-1.62373315e-01 -2.05032618e-03 9.86727269e-01 -3.56713788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:-62.60, Z:-35.68 [[ 9.21848104e-01 3.56021339e-01 1.53117209e-01 2.08115936e+02] [-3.51589609e-01 9.34475300e-01 -5.60415956e-02 -6.26046067e+01] [-1.63036254e-01 -2.17258122e-03 9.86617687e-01 -3.56771646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:-62.62, Z:-35.68 [[ 9.21641550e-01 3.56595097e-01 1.53025458e-01 2.08146644e+02] [-3.52170974e-01 9.34256344e-01 -5.60418433e-02 -6.26163934e+01] [-1.62949252e-01 -2.24063336e-03 9.86631908e-01 -3.56826336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:-62.63, Z:-35.69 [[ 9.21568179e-01 3.56999072e-01 1.52524600e-01 2.08176699e+02] [-3.52603929e-01 9.34101975e-01 -5.58924731e-02 -6.26274144e+01] [-1.62427091e-01 -2.27204859e-03 9.86717932e-01 -3.56883630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:-62.64, Z:-35.69 [[ 9.21537525e-01 3.57083042e-01 1.52513252e-01 2.08207658e+02] [-3.52683920e-01 9.34069924e-01 -5.59234219e-02 -6.26388905e+01] [-1.62427347e-01 -2.25343973e-03 9.86717933e-01 -3.56940582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:-62.65, Z:-35.70 [[ 9.21501027e-01 3.57570022e-01 1.51590029e-01 2.08237748e+02] [-3.53228587e-01 9.33883470e-01 -5.55988243e-02 -6.26487856e+01] [-1.61447895e-01 -2.31155813e-03 9.86878530e-01 -3.56999916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:-62.66, Z:-35.70 [[ 9.21394314e-01 3.57720214e-01 1.51884058e-01 2.08268743e+02] [-3.53358642e-01 9.33825948e-01 -5.57384018e-02 -6.26578801e+01] [-1.61772028e-01 -2.31249805e-03 9.86825447e-01 -3.57048498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.30, Y:-62.67, Z:-35.71 [[ 9.21369787e-01 3.57664902e-01 1.52162852e-01 2.08297987e+02] [-3.53280779e-01 9.33847228e-01 -5.58752746e-02 -6.26667941e+01] [-1.62081482e-01 -2.27442114e-03 9.86774757e-01 -3.57089554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:-62.68, Z:-35.72 [[ 9.21222955e-01 3.57973541e-01 1.52326002e-01 2.08328773e+02] [-3.53581586e-01 9.33728857e-01 -5.59507327e-02 -6.26765718e+01] [-1.62260066e-01 -2.31657028e-03 9.86745309e-01 -3.57155089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:-62.69, Z:-35.72 [[ 9.21131999e-01 3.58110020e-01 1.52555084e-01 2.08358670e+02] [-3.53700881e-01 9.33676535e-01 -5.60697372e-02 -6.26863089e+01] [-1.62516237e-01 -2.31123849e-03 9.86703162e-01 -3.57209004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.39, Y:-62.69, Z:-35.72 [[ 9.20952157e-01 3.58136359e-01 1.53575627e-01 2.08386182e+02] [-3.53662323e-01 9.33666462e-01 -5.64791984e-02 -6.26932758e+01] [-1.63615667e-01 -2.29927333e-03 9.86521478e-01 -3.57237087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:-62.70, Z:-35.73 [[ 9.20963494e-01 3.57836055e-01 1.54206360e-01 2.08414128e+02] [-3.53321832e-01 9.33781690e-01 -5.67048412e-02 -6.27012757e+01] [-1.64286112e-01 -2.26138491e-03 9.86410138e-01 -3.57292911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:-62.71, Z:-35.73 [[ 9.20952701e-01 3.57500069e-01 1.55047810e-01 2.08441626e+02] [-3.52932101e-01 9.33910479e-01 -5.70100812e-02 -6.27095267e+01] [-1.65181882e-01 -2.21776108e-03 9.86260629e-01 -3.57343997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:-62.72, Z:-35.74 [[ 9.21281879e-01 3.56519466e-01 1.55349829e-01 2.08471701e+02] [-3.51920830e-01 9.34285641e-01 -5.71145402e-02 -6.27179128e+01] [-1.65503560e-01 -2.05224977e-03 9.86207057e-01 -3.57390226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:-62.73, Z:-35.74 [[ 9.21589033e-01 3.55862717e-01 1.55033484e-01 2.08502643e+02] [-3.51273112e-01 9.34536256e-01 -5.70016431e-02 -6.27273500e+01] [-1.65169172e-01 -1.92700544e-03 9.86263368e-01 -3.57448239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.53, Y:-62.73, Z:-35.75 [[ 9.22186028e-01 3.54686902e-01 1.54175648e-01 2.08533721e+02] [-3.50126073e-01 9.34983637e-01 -5.67215226e-02 -6.27349750e+01] [-1.64270089e-01 -1.67311833e-03 9.86413979e-01 -3.57493068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.56, Y:-62.74, Z:-35.76 [[ 9.22483902e-01 3.54019927e-01 1.53926419e-01 2.08563559e+02] [-3.49459071e-01 9.35236645e-01 -5.66637073e-02 -6.27441826e+01] [-1.64017709e-01 -1.51962566e-03 9.86456224e-01 -3.57550700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21587156000004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:208.59, Y:-62.75, Z:-35.76 [[ 9.22755507e-01 3.53485309e-01 1.53526578e-01 2.08591648e+02] [-3.48940153e-01 9.35439004e-01 -5.65211386e-02 -6.27529947e+01] [-1.63594141e-01 -1.41639568e-03 9.86526711e-01 -3.57592821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:-62.76, Z:-35.77 [[ 9.23153370e-01 3.52607137e-01 1.53153721e-01 2.08619757e+02] [-3.48072859e-01 9.35770600e-01 -5.63796862e-02 -6.27581820e+01] [-1.63196629e-01 -1.26155633e-03 9.86592757e-01 -3.57670575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:208.65, Y:-62.77, Z:-35.77 [[ 9.23325792e-01 3.52369856e-01 1.52659645e-01 2.08647463e+02] [-3.47862786e-01 9.35860028e-01 -5.61915417e-02 -6.27659604e+01] [-1.62668265e-01 -1.22150953e-03 9.86680061e-01 -3.57704853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:-62.77, Z:-35.78 [[ 9.23411946e-01 3.52208842e-01 1.52510030e-01 2.08674877e+02] [-3.47709848e-01 9.35920665e-01 -5.61281544e-02 -6.27739773e+01] [-1.62506121e-01 -1.19983085e-03 9.86706806e-01 -3.57770342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:208.70, Y:-62.78, Z:-35.78 [[ 9.23615832e-01 3.51884146e-01 1.52024154e-01 2.08702906e+02] [-3.47410922e-01 9.36042859e-01 -5.59412057e-02 -6.27782291e+01] [-1.61985947e-01 -1.14666828e-03 9.86792399e-01 -3.57800165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:-62.79, Z:-35.79 [[ 9.23631739e-01 3.51733377e-01 1.52276205e-01 2.08730771e+02] [-3.47244887e-01 9.36099541e-01 -5.60235481e-02 -6.27852499e+01] [-1.62251037e-01 -1.13200655e-03 9.86748863e-01 -3.57866209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:-62.79, Z:-35.79 [[ 9.23506593e-01 3.51862617e-01 1.52735951e-01 2.08758679e+02] [-3.47349922e-01 9.36050928e-01 -5.61844524e-02 -6.27891920e+01] [-1.62737837e-01 -1.16610842e-03 9.86668656e-01 -3.57915854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:-62.80, Z:-35.80 [[ 9.23456707e-01 3.51901845e-01 1.52947059e-01 2.08786161e+02] [-3.47378911e-01 9.36036157e-01 -5.62512644e-02 -6.27956222e+01] [-1.62958901e-01 -1.18497527e-03 9.86632147e-01 -3.57958895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.81, Y:-62.80, Z:-35.80 [[ 9.23373343e-01 3.52102919e-01 1.52987592e-01 2.08812785e+02] [-3.47582354e-01 9.35960477e-01 -5.62538149e-02 -6.28017790e+01] [-1.62997472e-01 -1.23251415e-03 9.86625717e-01 -3.57990249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:-62.81, Z:-35.81 [[ 9.23245951e-01 3.52511597e-01 1.52815208e-01 2.08840692e+02] [-3.48009230e-01 9.35806518e-01 -5.61759341e-02 -6.28053132e+01] [-1.62808136e-01 -1.31689903e-03 9.86656869e-01 -3.58054107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:-62.81, Z:-35.81 [[ 9.23369863e-01 3.52404906e-01 1.52311780e-01 2.08867753e+02] [-3.47932907e-01 9.35846717e-01 -5.59786918e-02 -6.28120982e+01] [-1.62267645e-01 -1.30524341e-03 9.86745919e-01 -3.58101674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:-62.82, Z:-35.82 [[ 9.23554569e-01 3.52299618e-01 1.51432945e-01 2.08896225e+02] [-3.47879974e-01 9.35886378e-01 -5.56436032e-02 -6.28150763e+01] [-1.61327251e-01 -1.29058498e-03 9.86900123e-01 -3.58153766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:-62.82, Z:-35.82 [[ 9.23632093e-01 3.52106527e-01 1.51409219e-01 2.08923246e+02] [-3.47687677e-01 9.35959073e-01 -5.56227790e-02 -6.28208676e+01] [-1.61297975e-01 -1.26813574e-03 9.86904937e-01 -3.58210717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:-62.82, Z:-35.83 [[ 9.23973563e-01 3.50911212e-01 1.52099235e-01 2.08952147e+02] [-3.46437637e-01 9.36408118e-01 -5.58641208e-02 -6.28225320e+01] [-1.62030304e-01 -1.07592872e-03 9.86785196e-01 -3.58253802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:208.98, Y:-62.83, Z:-35.83 [[ 9.24365484e-01 3.49824516e-01 1.52221088e-01 2.08979809e+02] [-3.45331062e-01 9.36814817e-01 -5.58968260e-02 -6.28283397e+01] [-1.62157051e-01 -8.97573348e-04 9.86764554e-01 -3.58279635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:-62.83, Z:-35.83 [[ 9.24838214e-01 3.48396847e-01 1.52623444e-01 2.09005863e+02] [-3.43862191e-01 9.37346894e-01 -5.60320722e-02 -6.28340445e+01] [-1.62582509e-01 -6.60830347e-04 9.86694731e-01 -3.58342572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.03, Y:-62.84, Z:-35.84 [[ 9.25612294e-01 3.46291070e-01 1.52723199e-01 2.09032128e+02] [-3.41724293e-01 9.38127072e-01 -5.60544852e-02 -6.28399482e+01] [-1.62684935e-01 -3.04506393e-04 9.86678022e-01 -3.58376146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:209.06, Y:-62.84, Z:-35.84 [[ 9.27363689e-01 3.41459792e-01 1.52976464e-01 2.09059714e+02] [-3.36816159e-01 9.39896237e-01 -5.61243053e-02 -6.28439543e+01] [-1.62946197e-01 5.22697682e-04 9.86634818e-01 -3.58415265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:-62.85, Z:-35.85 [[ 9.28227905e-01 3.38932949e-01 1.53353880e-01 2.09085038e+02] [-3.34233983e-01 9.40810045e-01 -5.62503777e-02 -6.28507585e+01] [-1.63341977e-01 9.57092155e-04 9.86569046e-01 -3.58483079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:209.11, Y:-62.86, Z:-35.85 [[ 9.29984214e-01 3.33984515e-01 1.53569871e-01 2.09111895e+02] [-3.29207469e-01 9.42576812e-01 -5.63151453e-02 -6.28551997e+01] [-1.63559786e-01 1.81584747e-03 9.86531753e-01 -3.58505488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:-62.86, Z:-35.86 [[ 9.30682137e-01 3.31819488e-01 1.54034368e-01 2.09138603e+02] [-3.26986181e-01 9.43340359e-01 -5.64712714e-02 -6.28623153e+01] [-1.64045104e-01 2.18969373e-03 9.86450409e-01 -3.58570359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.16, Y:-62.87, Z:-35.86 [[ 9.31530624e-01 3.29573548e-01 1.53726945e-01 2.09164242e+02] [-3.24731352e-01 9.44126412e-01 -5.63459609e-02 -6.28690057e+01] [-1.63707807e-01 2.56802933e-03 9.86505529e-01 -3.58604567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:-62.87, Z:-35.87 [[ 9.32823370e-01 3.25854431e-01 1.53816286e-01 2.09190837e+02] [-3.20959401e-01 9.45414521e-01 -5.63599641e-02 -6.28748579e+01] [-1.63785294e-01 3.20510864e-03 9.86490803e-01 -3.58656851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:-62.88, Z:-35.87 [[ 9.33481924e-01 3.23835500e-01 1.54084610e-01 2.09215904e+02] [-3.18897652e-01 9.46106720e-01 -5.64478778e-02 -6.28822049e+01] [-1.64060312e-01 3.55585321e-03 9.86443901e-01 -3.58704199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93587156000004 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:209.24, Y:-62.89, Z:-35.87 [[ 9.35211654e-01 3.18915652e-01 1.53856976e-01 2.09243081e+02] [-3.13928701e-01 9.47772893e-01 -5.63499320e-02 -6.28915167e+01] [-1.63792347e-01 4.39899246e-03 9.86485031e-01 -3.58743790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:-62.90, Z:-35.88 [[ 9.36170802e-01 3.16051640e-01 1.53933722e-01 2.09268710e+02] [-3.11022612e-01 9.48729362e-01 -5.63696017e-02 -6.29011805e+01] [-1.63857147e-01 4.89470684e-03 9.86471934e-01 -3.58814503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:-62.91, Z:-35.89 [[ 9.37141612e-01 3.13364224e-01 1.53520234e-01 2.09293915e+02] [-3.08328308e-01 9.49618001e-01 -5.62077065e-02 -6.29106785e+01] [-1.63399062e-01 5.33994671e-03 9.86545605e-01 -3.58863127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:-62.92, Z:-35.89 [[ 9.38044466e-01 3.11054642e-01 1.52700980e-01 2.09321202e+02] [-3.06044079e-01 9.50374931e-01 -5.58973401e-02 -6.29206890e+01] [-1.62510310e-01 5.70095981e-03 9.86690376e-01 -3.58908913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:-62.93, Z:-35.90 [[ 9.39511868e-01 3.07139605e-01 1.51600502e-01 2.09346933e+02] [-3.02151584e-01 9.51643433e-01 -5.54905110e-02 -6.29306984e+01] [-1.61312955e-01 6.32766197e-03 9.86883018e-01 -3.58966402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:-62.94, Z:-35.90 [[ 9.39883107e-01 3.06004526e-01 1.51594772e-01 2.09374072e+02] [-3.01003259e-01 9.52007757e-01 -5.54821527e-02 -6.29424582e+01] [-1.61297189e-01 6.51621775e-03 9.86884368e-01 -3.59022293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.40, Y:-62.96, Z:-35.90 [[ 9.40166139e-01 3.05314870e-01 1.51229828e-01 2.09399532e+02] [-3.00329632e-01 9.52228481e-01 -5.53446690e-02 -6.29554651e+01] [-1.60902899e-01 6.61438531e-03 9.86948077e-01 -3.59043517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:209.43, Y:-62.97, Z:-35.91 [[ 9.39987197e-01 3.05737225e-01 1.51488677e-01 2.09426736e+02] [-3.00741215e-01 9.52093419e-01 -5.54332388e-02 -6.29670520e+01] [-1.61179377e-01 6.54764596e-03 9.86903408e-01 -3.59096450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.45, Y:-62.98, Z:-35.91 [[ 9.39626549e-01 3.06712449e-01 1.51754480e-01 2.09453295e+02] [-3.01712016e-01 9.51780787e-01 -5.55265028e-02 -6.29787684e+01] [-1.61467668e-01 6.38802606e-03 9.86857328e-01 -3.59144053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.48, Y:-62.99, Z:-35.92 [[ 9.38621981e-01 3.09351679e-01 1.52611653e-01 2.09477974e+02] [-3.04329331e-01 9.50928997e-01 -5.58363814e-02 -6.29923681e+01] [-1.62395925e-01 5.96505262e-03 9.86707648e-01 -3.59192827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:-63.00, Z:-35.92 [[ 9.38003533e-01 3.11235740e-01 1.52583371e-01 2.09506517e+02] [-3.06241725e-01 9.50316075e-01 -5.58154358e-02 -6.30042949e+01] [-1.62374189e-01 5.62768121e-03 9.86713207e-01 -3.59246442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:-63.02, Z:-35.93 [[ 9.36483157e-01 3.16111604e-01 1.51897169e-01 2.09532168e+02] [-3.11225530e-01 9.48710044e-01 -5.55690817e-02 -6.30157315e+01] [-1.61672401e-01 4.76523211e-03 9.86832978e-01 -3.59292927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:-63.03, Z:-35.93 [[ 9.35635438e-01 3.18805485e-01 1.51490560e-01 2.09557503e+02] [-3.13981730e-01 9.47810490e-01 -5.54143412e-02 -6.30265604e+01] [-1.61250738e-01 4.28235332e-03 9.86904180e-01 -3.59342405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:-63.04, Z:-35.94 [[ 9.34559375e-01 3.21781595e-01 1.51839979e-01 2.09585227e+02] [-3.16976048e-01 9.46806425e-01 -5.55317791e-02 -6.30384906e+01] [-1.61632173e-01 3.76810807e-03 9.86843879e-01 -3.59390927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:-63.05, Z:-35.94 [[ 9.32738483e-01 3.26887608e-01 1.52129594e-01 2.09611264e+02] [-3.22130831e-01 9.45058802e-01 -5.56380134e-02 -6.30500330e+01] [-1.61958789e-01 2.89008363e-03 9.86793290e-01 -3.59438641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:-63.06, Z:-35.95 [[ 9.31986960e-01 3.29077107e-01 1.52015012e-01 2.09637858e+02] [-3.24357478e-01 9.44299740e-01 -5.55898150e-02 -6.30605889e+01] [-1.61841072e-01 2.50177659e-03 9.86813665e-01 -3.59492400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:209.66, Y:-63.07, Z:-35.95 [[ 9.30710648e-01 3.33013256e-01 1.51260902e-01 2.09662283e+02] [-3.28393574e-01 9.42920426e-01 -5.53057993e-02 -6.30731658e+01] [-1.61044559e-01 1.80058790e-03 9.86945494e-01 -3.59526626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:-63.08, Z:-35.96 [[ 9.30255719e-01 3.34347706e-01 1.51115548e-01 2.09687016e+02] [-3.29756138e-01 9.42448505e-01 -5.52422411e-02 -6.30835686e+01] [-1.60888739e-01 1.55813118e-03 9.86971320e-01 -3.59589457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:-63.09, Z:-35.96 [[ 9.29789275e-01 3.35692245e-01 1.51005369e-01 2.09712628e+02] [-3.31126705e-01 9.41970800e-01 -5.51916400e-02 -6.30943103e+01] [-1.60770054e-01 1.31468462e-03 9.86991014e-01 -3.59637117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:-63.11, Z:-35.97 [[ 9.29332499e-01 3.36822242e-01 1.51300638e-01 2.09739189e+02] [-3.32255264e-01 9.41567598e-01 -5.52892216e-02 -6.31055204e+01] [-1.61082417e-01 1.11163726e-03 9.86940332e-01 -3.59689509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:-63.12, Z:-35.97 [[ 9.28512661e-01 3.39101392e-01 1.51243127e-01 2.09763902e+02] [-3.34569275e-01 9.40749565e-01 -5.52598985e-02 -6.31173904e+01] [-1.61020615e-01 7.08212129e-04 9.86950789e-01 -3.59730243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:-63.13, Z:-35.98 [[ 9.28113290e-01 3.40324326e-01 1.50947257e-01 2.09788448e+02] [-3.35827769e-01 9.40307991e-01 -5.51415623e-02 -6.31278252e+01] [-1.60702927e-01 4.85336102e-04 9.87002702e-01 -3.59777548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:-63.14, Z:-35.98 [[ 9.27786309e-01 3.41243468e-01 1.50882277e-01 2.09813589e+02] [-3.36765210e-01 9.39974892e-01 -5.51034919e-02 -6.31379887e+01] [-1.60629258e-01 3.12363714e-04 9.87014764e-01 -3.59824397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.84, Y:-63.15, Z:-35.99 [[ 9.26963597e-01 3.43289271e-01 1.51297605e-01 2.09838847e+02] [-3.38815207e-01 9.39229723e-01 -5.52429383e-02 -6.31487186e+01] [-1.61067516e-01 -5.37366973e-05 9.86943389e-01 -3.59853931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:-63.16, Z:-35.99 [[ 9.26830084e-01 3.43608272e-01 1.51391382e-01 2.09864626e+02] [-3.39134876e-01 9.39113061e-01 -5.52647728e-02 -6.31588921e+01] [-1.61163057e-01 -1.21043525e-04 9.86927786e-01 -3.59916565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.89, Y:-63.17, Z:-36.00 [[ 9.26745579e-01 3.43839390e-01 1.51383970e-01 2.09890123e+02] [-3.39371592e-01 9.39028457e-01 -5.52492440e-02 -6.31700997e+01] [-1.61150722e-01 -1.73426181e-04 9.86929792e-01 -3.59957671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.92, Y:-63.18, Z:-36.00 [[ 9.26765675e-01 3.43783722e-01 1.51387370e-01 2.09916542e+02] [-3.39316708e-01 9.39048839e-01 -5.52399258e-02 -6.31796078e+01] [-1.61150721e-01 -1.73796904e-04 9.86929792e-01 -3.60006100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:-63.19, Z:-36.01 [[ 9.26779835e-01 3.43864354e-01 1.51117319e-01 2.09943019e+02] [-3.39416097e-01 9.39019312e-01 -5.51311660e-02 -6.31901010e+01] [-1.60859724e-01 -1.97197757e-04 9.86977259e-01 -3.60060119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:-63.20, Z:-36.01 [[ 9.26738920e-01 3.44136708e-01 1.50747802e-01 2.09967519e+02] [-3.39715164e-01 9.38919519e-01 -5.49885875e-02 -6.31997412e+01] [-1.60463645e-01 -2.51250012e-04 9.87041719e-01 -3.60107606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80587156000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:209.99, Y:-63.21, Z:-36.01 [[ 9.26347287e-01 3.45193511e-01 1.50738662e-01 2.09993660e+02] [-3.40789346e-01 9.38531425e-01 -5.49671257e-02 -6.32105805e+01] [-1.60447267e-01 -4.51482390e-04 9.87044310e-01 -3.60136710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.02, Y:-63.22, Z:-36.02 [[ 9.26056849e-01 3.45984546e-01 1.50709674e-01 2.10019588e+02] [-3.41594494e-01 9.38240019e-01 -5.49442201e-02 -6.32204170e+01] [-1.60411699e-01 -6.00123510e-04 9.87050012e-01 -3.60189305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:-63.23, Z:-36.02 [[ 9.25768675e-01 3.46753813e-01 1.50712155e-01 2.10044425e+02] [-3.42375741e-01 9.37955883e-01 -5.49328085e-02 -6.32296972e+01] [-1.60409513e-01 -7.45112417e-04 9.87050269e-01 -3.60247047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:-63.24, Z:-36.03 [[ 9.25332141e-01 3.47894372e-01 1.50764499e-01 2.10070817e+02] [-3.43530636e-01 9.37533247e-01 -5.49373454e-02 -6.32390825e+01] [-1.60459123e-01 -9.56932713e-04 9.87042022e-01 -3.60294319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:-63.25, Z:-36.03 [[ 9.24481176e-01 3.50235580e-01 1.50564252e-01 2.10095959e+02] [-3.45916305e-01 9.36660639e-01 -5.48521326e-02 -6.32465176e+01] [-1.60238777e-01 -1.37286549e-03 9.87077327e-01 -3.60337578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:-63.25, Z:-36.04 [[ 9.24007024e-01 3.51424856e-01 1.50703650e-01 2.10122555e+02] [-3.47115606e-01 9.36214734e-01 -5.48883171e-02 -6.32547692e+01] [-1.60380096e-01 -1.59439818e-03 9.87054042e-01 -3.60380907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:-63.26, Z:-36.04 [[ 9.22911584e-01 3.54174875e-01 1.50978033e-01 2.10149115e+02] [-3.49888317e-01 9.35176882e-01 -5.49760402e-02 -6.32622728e+01] [-1.60662298e-01 -2.08742547e-03 9.87007228e-01 -3.60429520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:-63.27, Z:-36.05 [[ 9.22539874e-01 3.55109837e-01 1.51053586e-01 2.10175651e+02] [-3.50833382e-01 9.34821846e-01 -5.49914095e-02 -6.32709017e+01] [-1.60736182e-01 -2.26287228e-03 9.86994812e-01 -3.60479933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:-63.28, Z:-36.05 [[ 9.22300192e-01 3.55802502e-01 1.50887158e-01 2.10201814e+02] [-3.51546706e-01 9.34558107e-01 -5.49186470e-02 -6.32790890e+01] [-1.60553009e-01 -2.39240472e-03 9.87024320e-01 -3.60520925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:-63.29, Z:-36.06 [[ 9.21903272e-01 3.56718206e-01 1.51150517e-01 2.10228649e+02] [-3.52461655e-01 9.34208503e-01 -5.50023148e-02 -6.32861288e+01] [-1.60826426e-01 -2.56794756e-03 9.86979365e-01 -3.60569497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:-63.29, Z:-36.06 [[ 9.21912502e-01 3.56711920e-01 1.51109048e-01 2.10254084e+02] [-3.52459649e-01 9.34210876e-01 -5.49748584e-02 -6.32933396e+01] [-1.60777903e-01 -2.57783263e-03 9.86987244e-01 -3.60619684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:-63.30, Z:-36.07 [[ 9.22089488e-01 3.56491825e-01 1.50547518e-01 2.10280544e+02] [-3.52270710e-01 9.34294980e-01 -5.47561611e-02 -6.32983885e+01] [-1.60175915e-01 -2.54340058e-03 9.87085208e-01 -3.60661775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:-63.31, Z:-36.07 [[ 9.22290337e-01 3.56069539e-01 1.50316391e-01 2.10307100e+02] [-3.51857950e-01 9.34456174e-01 -5.46593176e-02 -6.33064274e+01] [-1.59926598e-01 -2.47825680e-03 9.87125798e-01 -3.60712868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.33, Y:-63.31, Z:-36.08 [[ 9.22666883e-01 3.55241061e-01 1.49965370e-01 2.10332245e+02] [-3.51043624e-01 9.34771747e-01 -5.44991254e-02 -6.33141141e+01] [-1.59543718e-01 -2.35984872e-03 9.87188043e-01 -3.60753363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:-63.32, Z:-36.08 [[ 9.23497128e-01 3.53364399e-01 1.49287160e-01 2.10358963e+02] [-3.49182681e-01 9.35483538e-01 -5.42402656e-02 -6.33213187e+01] [-1.58822259e-01 -2.03776109e-03 9.87305088e-01 -3.60808750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:-63.33, Z:-36.09 [[ 9.24019736e-01 3.52017975e-01 1.49234285e-01 2.10384931e+02] [-3.47826959e-01 9.35991439e-01 -5.41888627e-02 -6.33294788e+01] [-1.58757467e-01 -1.83612902e-03 9.87315904e-01 -3.60854404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.41, Y:-63.34, Z:-36.09 [[ 9.24556138e-01 3.50595542e-01 1.49260554e-01 2.10411693e+02] [-3.46386620e-01 9.36525597e-01 -5.41859393e-02 -6.33379335e+01] [-1.58783679e-01 -1.60391620e-03 9.87312094e-01 -3.60887890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:-63.35, Z:-36.09 [[ 9.25740655e-01 3.47381259e-01 1.49433935e-01 2.10436917e+02] [-3.43122739e-01 9.37723375e-01 -5.42370573e-02 -6.33454807e+01] [-1.58968631e-01 -1.06473223e-03 9.87283060e-01 -3.60940395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:210.46, Y:-63.35, Z:-36.10 [[ 9.26285718e-01 3.45609941e-01 1.50161706e-01 2.10463162e+02] [-3.41289867e-01 9.38377937e-01 -5.44800262e-02 -6.33546686e+01] [-1.59737270e-01 -7.84598357e-04 9.87159252e-01 -3.60974297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:-63.37, Z:-36.10 [[ 9.27703131e-01 3.41520953e-01 1.50765843e-01 2.10487808e+02] [-3.37117284e-01 9.39874155e-01 -5.46672671e-02 -6.33657323e+01] [-1.60370936e-01 -1.10776639e-04 9.87056812e-01 -3.61041004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:-63.38, Z:-36.11 [[ 9.28367590e-01 3.39632695e-01 1.50941214e-01 2.10513312e+02] [-3.35195885e-01 9.40558127e-01 -5.47186277e-02 -6.33760049e+01] [-1.60553220e-01 2.04126793e-04 9.87027164e-01 -3.61083496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:-63.39, Z:-36.11 [[ 9.28972484e-01 3.37988563e-01 1.50910089e-01 2.10538706e+02] [-3.33533994e-01 9.41150097e-01 -5.46952491e-02 -6.33854712e+01] [-1.60515414e-01 4.76736675e-04 9.87033219e-01 -3.61128425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:-63.40, Z:-36.12 [[ 9.30008250e-01 3.35346228e-01 1.50424605e-01 2.10563980e+02] [-3.30888384e-01 9.42094511e-01 -5.45051357e-02 -6.33955860e+01] [-1.59992287e-01 9.16471234e-04 9.87117839e-01 -3.61179008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:-63.41, Z:-36.12 [[ 9.30477908e-01 3.34194882e-01 1.50082121e-01 2.10589665e+02] [-3.29744499e-01 9.42503353e-01 -5.43690697e-02 -6.34062591e+01] [-1.59622767e-01 1.10046439e-03 9.87177472e-01 -3.61225006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:-63.42, Z:-36.13 [[ 9.31042037e-01 3.32652902e-01 1.50009241e-01 2.10615898e+02] [-3.28188889e-01 9.43048364e-01 -5.43308082e-02 -6.34179895e+01] [-1.59539270e-01 1.35290032e-03 9.87190656e-01 -3.61269082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:-63.43, Z:-36.13 [[ 9.31314901e-01 3.31883361e-01 1.50019967e-01 2.10641114e+02] [-3.27410775e-01 9.43319280e-01 -5.43223678e-02 -6.34278674e+01] [-1.59545418e-01 1.47307675e-03 9.87189490e-01 -3.61312037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:210.67, Y:-63.44, Z:-36.13 [[ 9.31353046e-01 3.31654601e-01 1.50288819e-01 2.10667526e+02] [-3.27165847e-01 9.43399694e-01 -5.44015211e-02 -6.34391252e+01] [-1.59824941e-01 1.49765342e-03 9.87144237e-01 -3.61347148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:-63.45, Z:-36.14 [[ 9.31249847e-01 3.32068039e-01 1.50015133e-01 2.10691666e+02] [-3.27602373e-01 9.43254373e-01 -5.42943199e-02 -6.34524580e+01] [-1.59531838e-01 1.41626366e-03 9.87191768e-01 -3.61404507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.72, Y:-63.46, Z:-36.15 [[ 9.31010720e-01 3.32788052e-01 1.49903805e-01 2.10717676e+02] [-3.28339957e-01 9.43000778e-01 -5.42439364e-02 -6.34631770e+01] [-1.59411138e-01 1.28227754e-03 9.87211449e-01 -3.61454398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.74, Y:-63.47, Z:-36.15 [[ 9.30525537e-01 3.34079071e-01 1.50044656e-01 2.10742861e+02] [-3.29641401e-01 9.42544467e-01 -5.42814273e-02 -6.34732698e+01] [-1.59558050e-01 1.04932349e-03 9.87187990e-01 -3.61479540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:-63.48, Z:-36.15 [[ 9.29397573e-01 3.37102789e-01 1.50272619e-01 2.10767455e+02] [-3.32693659e-01 9.41467708e-01 -5.43459670e-02 -6.34827683e+01] [-1.59796995e-01 5.14262436e-04 9.87149764e-01 -3.61539614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:210.79, Y:-63.49, Z:-36.16 [[ 9.28797379e-01 3.38839646e-01 1.50077058e-01 2.10794721e+02] [-3.34466884e-01 9.40844118e-01 -5.42609380e-02 -6.34929023e+01] [-1.59584874e-01 2.01610983e-04 9.87184191e-01 -3.61570611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:-63.50, Z:-36.16 [[ 9.27849992e-01 3.41568693e-01 1.49750527e-01 2.10819715e+02] [-3.37251665e-01 9.39856772e-01 -5.41346704e-02 -6.35037949e+01] [-1.59234756e-01 -2.74761175e-04 9.87240709e-01 -3.61640704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-63.51, Z:-36.17 [[ 9.27453843e-01 3.42526293e-01 1.50017027e-01 2.10844840e+02] [-3.38207895e-01 9.39508135e-01 -5.42206933e-02 -6.35146065e+01] [-1.59514230e-01 -4.49752497e-04 9.87195527e-01 -3.61687688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:-63.53, Z:-36.17 [[ 9.27252993e-01 3.42936147e-01 1.50321941e-01 2.10871123e+02] [-3.38607444e-01 9.39358566e-01 -5.43183561e-02 -6.35252019e+01] [-1.59833931e-01 -5.33270023e-04 9.87143774e-01 -3.61735035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:-63.53, Z:-36.18 [[ 9.27079987e-01 3.43089399e-01 1.51037620e-01 2.10897046e+02] [-3.38722507e-01 9.39302581e-01 -5.45685301e-02 -6.35346729e+01] [-1.60591910e-01 -5.70449067e-04 9.87020726e-01 -3.61781608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:-63.54, Z:-36.18 [[ 9.27240317e-01 3.42726381e-01 1.50877510e-01 2.10923102e+02] [-3.38365729e-01 9.39435128e-01 -5.45002126e-02 -6.35440547e+01] [-1.60418293e-01 -5.16984127e-04 9.87048988e-01 -3.61826361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:-63.55, Z:-36.19 [[ 9.27439477e-01 3.42271502e-01 1.50685885e-01 2.10949125e+02] [-3.37917988e-01 9.39600988e-01 -5.44188950e-02 -6.35539720e+01] [-1.60210644e-01 -4.49239652e-04 9.87082746e-01 -3.61881312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:-63.57, Z:-36.19 [[ 9.27984118e-01 3.41123408e-01 1.49934309e-01 2.10974957e+02] [-3.36800589e-01 9.40018485e-01 -5.41351205e-02 -6.35650485e+01] [-1.59407778e-01 -2.61431425e-04 9.87212790e-01 -3.61934270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:-63.58, Z:-36.20 [[ 9.28196642e-01 3.40512964e-01 1.50006386e-01 2.11000185e+02] [-3.36179303e-01 9.40239807e-01 -5.41533164e-02 -6.35750242e+01] [-1.59481882e-01 -1.64115922e-04 9.87200842e-01 -3.61983258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:-63.59, Z:-36.20 [[ 9.28423761e-01 3.39875613e-01 1.50046286e-01 2.11026450e+02] [-3.35533348e-01 9.40470395e-01 -5.41554187e-02 -6.35854926e+01] [-1.59520196e-01 -6.63550885e-05 9.87194663e-01 -3.62031314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:-63.60, Z:-36.21 [[ 9.28639334e-01 3.39300464e-01 1.50013939e-01 2.11051575e+02] [-3.34953911e-01 9.40678050e-01 -5.41357853e-02 -6.35964937e+01] [-1.59483117e-01 2.48639582e-05 9.87200656e-01 -3.62074921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.08, Y:-63.61, Z:-36.21 [[ 9.28644104e-01 3.39349862e-01 1.49872608e-01 2.11078899e+02] [-3.35014063e-01 9.40660231e-01 -5.40731594e-02 -6.36071018e+01] [-1.59328921e-01 5.28926474e-06 9.87225554e-01 -3.62101094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:-63.62, Z:-36.22 [[ 9.28729607e-01 3.39184467e-01 1.49717117e-01 2.11104595e+02] [-3.34856880e-01 9.40719882e-01 -5.40090106e-02 -6.36173022e+01] [-1.59160886e-01 2.59603468e-05 9.87252658e-01 -3.62168325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:-63.63, Z:-36.22 [[ 9.28477906e-01 3.39721908e-01 1.50059330e-01 2.11130458e+02] [-3.35382663e-01 9.40525927e-01 -5.41243924e-02 -6.36272116e+01] [-1.59521932e-01 -7.39950708e-05 9.87194382e-01 -3.62208355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:-63.64, Z:-36.23 [[ 9.28215805e-01 3.40290360e-01 1.50392451e-01 2.11156867e+02] [-3.35940794e-01 9.40320391e-01 -5.42341741e-02 -6.36367715e+01] [-1.59872455e-01 -1.81941856e-04 9.87137663e-01 -3.62253673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:-63.65, Z:-36.23 [[ 9.27955166e-01 3.40857857e-01 1.50715399e-01 2.11182680e+02] [-3.36498208e-01 9.40114801e-01 -5.43425972e-02 -6.36465185e+01] [-1.60212879e-01 -2.87967967e-04 9.87082444e-01 -3.62301482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:-63.66, Z:-36.23 [[ 9.27210807e-01 3.42493429e-01 1.51586182e-01 2.11209061e+02] [-3.38106570e-01 9.39520042e-01 -5.46446584e-02 -6.36581113e+01] [-1.61133692e-01 -5.85166186e-04 9.86932415e-01 -3.62343279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:-63.67, Z:-36.24 [[ 9.26714512e-01 3.43668458e-01 1.51961192e-01 2.11234772e+02] [-3.39276736e-01 9.39090705e-01 -5.47717489e-02 -6.36678626e+01] [-1.61528665e-01 -7.99122485e-04 9.86867697e-01 -3.62387966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:-63.68, Z:-36.24 [[ 9.25787552e-01 3.46118284e-01 1.52051115e-01 2.11261696e+02] [-3.41755793e-01 9.38190068e-01 -5.47939194e-02 -6.36766092e+01] [-1.61618024e-01 -1.23682101e-03 9.86852616e-01 -3.62432051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:-63.69, Z:-36.25 [[ 9.25418258e-01 3.47097278e-01 1.52067512e-01 2.11287604e+02] [-3.42748313e-01 9.37828063e-01 -5.47915963e-02 -6.36855551e+01] [-1.61631194e-01 -1.41573943e-03 9.86850218e-01 -3.62483407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:-63.69, Z:-36.25 [[ 9.24984754e-01 3.48498285e-01 1.51499672e-01 2.11313465e+02] [-3.44202260e-01 9.37307941e-01 -5.45768030e-02 -6.36941561e+01] [-1.61021768e-01 -1.66381866e-03 9.86949453e-01 -3.62530980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:-63.70, Z:-36.26 [[ 9.24816387e-01 3.48961578e-01 1.51461107e-01 2.11339706e+02] [-3.44675908e-01 9.37135388e-01 -5.45507440e-02 -6.37028778e+01] [-1.60975677e-01 -1.75557236e-03 9.86956812e-01 -3.62574715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:-63.71, Z:-36.26 [[ 9.24640728e-01 3.49422399e-01 1.51471158e-01 2.11364643e+02] [-3.45144257e-01 9.36963486e-01 -5.45423399e-02 -6.37113631e+01] [-1.60981260e-01 -1.84733166e-03 9.86955734e-01 -3.62617295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:-63.72, Z:-36.27 [[ 9.24499722e-01 3.50021680e-01 1.50947298e-01 2.11390510e+02] [-3.45783478e-01 9.36739552e-01 -5.43396461e-02 -6.37211705e+01] [-1.60418359e-01 -1.95809398e-03 9.87047170e-01 -3.62669835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:-63.73, Z:-36.27 [[ 9.24365746e-01 3.50431367e-01 1.50817192e-01 2.11415400e+02] [-3.46207909e-01 9.36586195e-01 -5.42806037e-02 -6.37303636e+01] [-1.60274926e-01 -2.03897405e-03 9.87070307e-01 -3.62716294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:-63.74, Z:-36.28 [[ 9.23987268e-01 3.51516379e-01 1.50611304e-01 2.11442036e+02] [-3.47321161e-01 9.36179058e-01 -5.41920921e-02 -6.37380501e+01] [-1.60048557e-01 -2.23768993e-03 9.87106606e-01 -3.62752833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:-63.75, Z:-36.28 [[ 9.23784050e-01 3.51896211e-01 1.50970483e-01 2.11467568e+02] [-3.47687845e-01 9.36036149e-01 -5.43092110e-02 -6.37456513e+01] [-1.60425035e-01 -2.32061922e-03 9.87045299e-01 -3.62803113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:-63.75, Z:-36.28 [[ 9.23581155e-01 3.52416275e-01 1.50998743e-01 2.11494087e+02] [-3.48216481e-01 9.35840191e-01 -5.42993513e-02 -6.37538749e+01] [-1.60446668e-01 -2.43039360e-03 9.87041519e-01 -3.62840999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:-63.76, Z:-36.29 [[ 9.23341202e-01 3.52897480e-01 1.51341977e-01 2.11519968e+02] [-3.48686907e-01 9.35658570e-01 -5.44103097e-02 -6.37605649e+01] [-1.60805679e-01 -2.53168497e-03 9.86982839e-01 -3.62887926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:-63.77, Z:-36.29 [[ 9.23312756e-01 3.52972351e-01 1.51340922e-01 2.11546941e+02] [-3.48765227e-01 9.35630254e-01 -5.43952523e-02 -6.37685510e+01] [-1.60799166e-01 -2.55862091e-03 9.86983831e-01 -3.62935320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:-63.78, Z:-36.30 [[ 9.23333961e-01 3.52915150e-01 1.51344947e-01 2.11573406e+02] [-3.48709098e-01 9.35651826e-01 -5.43840522e-02 -6.37779319e+01] [-1.60799132e-01 -2.56071758e-03 9.86983831e-01 -3.62983750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:-63.78, Z:-36.30 [[ 9.23309084e-01 3.52888858e-01 1.51557876e-01 2.11599659e+02] [-3.48672202e-01 9.35661719e-01 -5.44503769e-02 -6.37830827e+01] [-1.61021834e-01 -2.56949073e-03 9.86947500e-01 -3.63025641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:-63.79, Z:-36.31 [[ 9.23456105e-01 3.52459362e-01 1.51661534e-01 2.11625006e+02] [-3.48233519e-01 9.35823753e-01 -5.44731011e-02 -6.37898245e+01] [-1.61128021e-01 -2.51011208e-03 9.86930322e-01 -3.63072049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:-63.80, Z:-36.31 [[ 9.23667592e-01 3.51866930e-01 1.51749279e-01 2.11651624e+02] [-3.47630576e-01 9.36046900e-01 -5.44902195e-02 -6.37972727e+01] [-1.61217748e-01 -2.42183934e-03 9.86915889e-01 -3.63119870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:-63.80, Z:-36.32 [[ 9.24108046e-01 3.50823311e-01 1.51483743e-01 2.11678407e+02] [-3.46589898e-01 9.36438976e-01 -5.43827865e-02 -6.38049989e+01] [-1.60934031e-01 -2.24716459e-03 9.86962607e-01 -3.63166371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:-63.81, Z:-36.32 [[ 9.25191810e-01 3.48197733e-01 1.50925325e-01 2.11705128e+02] [-3.43962896e-01 9.37419392e-01 -5.41701854e-02 -6.38116628e+01] [-1.60342262e-01 -1.79490010e-03 9.87059845e-01 -3.63213559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:-63.82, Z:-36.33 [[ 9.25801533e-01 3.46711991e-01 1.50606499e-01 2.11730720e+02] [-3.42477541e-01 9.37970366e-01 -5.40437526e-02 -6.38195514e+01] [-1.60002050e-01 -1.54555431e-03 9.87115472e-01 -3.63261726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.76, Y:-63.83, Z:-36.33 [[ 9.27105624e-01 3.43209745e-01 1.50606216e-01 2.11758159e+02] [-3.38931637e-01 9.39258303e-01 -5.40294826e-02 -6.38255074e+01] [-1.60001584e-01 -9.54173958e-04 9.87116296e-01 -3.63304332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:-63.83, Z:-36.34 [[ 9.27778348e-01 3.41318814e-01 1.50760752e-01 2.11784074e+02] [-3.37009054e-01 9.39947370e-01 -5.40725453e-02 -6.38331253e+01] [-1.60163149e-01 -6.40401487e-04 9.87090348e-01 -3.63352727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.81, Y:-63.84, Z:-36.34 [[ 9.28432195e-01 3.39564673e-01 1.50696689e-01 2.11810979e+02] [-3.35238000e-01 9.40582643e-01 -5.40349378e-02 -6.38413641e+01] [-1.60091046e-01 -3.51480634e-04 9.87102190e-01 -3.63376751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.84, Y:-63.85, Z:-36.34 [[ 9.29898267e-01 3.34992712e-01 1.51885138e-01 2.11837122e+02] [-3.30538366e-01 9.42220622e-01 -5.44489564e-02 -6.38481027e+01] [-1.61349313e-01 4.28124714e-04 9.86897267e-01 -3.63444575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.86, Y:-63.86, Z:-36.35 [[ 9.30605097e-01 3.33024362e-01 1.51884587e-01 2.11863811e+02] [-3.28545996e-01 9.42917918e-01 -5.44364653e-02 -6.38573976e+01] [-1.61343367e-01 7.57779266e-04 9.86898041e-01 -3.63474166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.89, Y:-63.87, Z:-36.35 [[ 9.32101350e-01 3.29152426e-01 1.51148116e-01 2.11888790e+02] [-3.24668990e-01 9.44275750e-01 -5.41604508e-02 -6.38657069e+01] [-1.60552544e-01 1.40992326e-03 9.87026288e-01 -3.63523141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.91, Y:-63.87, Z:-36.36 [[ 9.32630220e-01 3.27835294e-01 1.50747782e-01 2.11914915e+02] [-3.23360940e-01 9.44733507e-01 -5.40028023e-02 -6.38746044e+01] [-1.60120505e-01 1.61870102e-03 9.87096147e-01 -3.63566737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:-63.88, Z:-36.36 [[ 9.33019260e-01 3.26673559e-01 1.50862345e-01 2.11940919e+02] [-3.22179223e-01 9.45135502e-01 -5.40317617e-02 -6.38825287e+01] [-1.60236106e-01 1.80796116e-03 9.87077060e-01 -3.63628306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:-63.89, Z:-36.37 [[ 9.33122331e-01 3.26133652e-01 1.51392061e-01 2.11966907e+02] [-3.21602370e-01 9.45321769e-01 -5.42094999e-02 -6.38907797e+01] [-1.60793753e-01 1.89604938e-03 9.86986208e-01 -3.63663924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:-63.90, Z:-36.37 [[ 9.33056740e-01 3.26189523e-01 1.51675692e-01 2.11992912e+02] [-3.21644169e-01 9.45302530e-01 -5.42969106e-02 -6.39002523e+01] [-1.61090499e-01 1.87649646e-03 9.86937855e-01 -3.63708638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:-63.91, Z:-36.38 [[ 9.32980358e-01 3.26340169e-01 1.51821424e-01 2.12019298e+02] [-3.21789855e-01 9.45250603e-01 -5.43377076e-02 -6.39096251e+01] [-1.61241869e-01 1.84141987e-03 9.86913202e-01 -3.63754110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:-63.92, Z:-36.38 [[ 9.32159990e-01 3.28416959e-01 1.52381276e-01 2.12045859e+02] [-3.23862299e-01 9.44531694e-01 -5.45260528e-02 -6.39188508e+01] [-1.61836226e-01 1.47645440e-03 9.86816526e-01 -3.63795879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:-63.93, Z:-36.38 [[ 9.31711879e-01 3.29595770e-01 1.52576550e-01 2.12072252e+02] [-3.25046757e-01 9.44121302e-01 -5.45854707e-02 -6.39284463e+01] [-1.62041911e-01 1.26341856e-03 9.86783068e-01 -3.63842692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:-63.94, Z:-36.39 [[ 9.30780234e-01 3.32342739e-01 1.52303843e-01 2.12098455e+02] [-3.27847949e-01 9.43158365e-01 -5.44795433e-02 -6.39379105e+01] [-1.61752524e-01 7.75979488e-04 9.86831049e-01 -3.63892409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:-63.95, Z:-36.39 [[ 9.30416494e-01 3.33518511e-01 1.51955751e-01 2.12123977e+02] [-3.29061643e-01 9.42743384e-01 -5.43447013e-02 -6.39466363e+01] [-1.61380243e-01 5.60397410e-04 9.86892144e-01 -3.63940019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:-63.96, Z:-36.40 [[ 9.30035464e-01 3.34681476e-01 1.51731162e-01 2.12149452e+02] [-3.30255452e-01 9.42331253e-01 -5.42507709e-02 -6.39551740e+01] [-1.61137744e-01 3.45097275e-04 9.86931866e-01 -3.63986637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:-63.96, Z:-36.40 [[ 9.29307895e-01 3.36886166e-01 1.51309445e-01 2.12174831e+02] [-3.32516080e-01 9.41545383e-01 -5.40864870e-02 -6.39636944e+01] [-1.60685698e-01 -4.98239563e-05 9.87005625e-01 -3.64033108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.20, Y:-63.97, Z:-36.41 [[ 9.28904773e-01 3.38064216e-01 1.51157231e-01 2.12200961e+02] [-3.33720555e-01 9.41123008e-01 -5.40192142e-02 -6.39727209e+01] [-1.60519512e-01 -2.65569365e-04 9.87032632e-01 -3.64071653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.23, Y:-63.98, Z:-36.41 [[ 9.28465408e-01 3.39415486e-01 1.50828091e-01 2.12227132e+02] [-3.35110478e-01 9.40636417e-01 -5.38896961e-02 -6.39816949e+01] [-1.60165392e-01 -5.09354958e-04 9.87090061e-01 -3.64108570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:212.25, Y:-63.99, Z:-36.42 [[ 9.27536264e-01 3.42032047e-01 1.50633852e-01 2.12252239e+02] [-3.37774301e-01 9.39687787e-01 -5.38087793e-02 -6.39901658e+01] [-1.59953118e-01 -9.70649797e-04 9.87124135e-01 -3.64158044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44587156000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:212.28, Y:-64.00, Z:-36.42 [[ 9.27112755e-01 3.43311285e-01 1.50330638e-01 2.12276940e+02] [-3.39091120e-01 9.39220899e-01 -5.36778887e-02 -6.39992040e+01] [-1.59621902e-01 -1.21032926e-03 9.87177483e-01 -3.64201927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:-64.01, Z:-36.43 [[ 9.26251050e-01 3.45508881e-01 1.50607457e-01 2.12302930e+02] [-3.41304056e-01 9.38414108e-01 -5.37633990e-02 -6.40064620e+01] [-1.59907895e-01 -1.60453127e-03 9.87130635e-01 -3.64265801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:-64.01, Z:-36.43 [[ 9.25824164e-01 3.46585777e-01 1.50757808e-01 2.12329845e+02] [-3.42388669e-01 9.38016548e-01 -5.38047843e-02 -6.40140841e+01] [-1.60061292e-01 -1.80399592e-03 9.87105429e-01 -3.64315084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:-64.02, Z:-36.44 [[ 9.25430309e-01 3.47587755e-01 1.50869134e-01 2.12355204e+02] [-3.43399599e-01 9.37645344e-01 -5.38323725e-02 -6.40212342e+01] [-1.60173214e-01 -1.99029084e-03 9.87086916e-01 -3.64358250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:-64.03, Z:-36.44 [[ 9.25161981e-01 3.48127051e-01 1.51270832e-01 2.12380780e+02] [-3.43925921e-01 9.37445003e-01 -5.39613488e-02 -6.40289005e+01] [-1.60593490e-01 -2.10297171e-03 9.87018393e-01 -3.64406515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:-64.04, Z:-36.45 [[ 9.25224624e-01 3.47885716e-01 1.51442804e-01 2.12406456e+02] [-3.43673960e-01 9.37534649e-01 -5.40091862e-02 -6.40379603e+01] [-1.60771901e-01 -2.07631915e-03 9.86989405e-01 -3.64452944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:-64.05, Z:-36.45 [[ 9.25432522e-01 3.47389772e-01 1.51310918e-01 2.12432926e+02] [-3.43180791e-01 9.37718693e-01 -5.39499629e-02 -6.40470225e+01] [-1.60628742e-01 -1.99995027e-03 9.87012871e-01 -3.64498793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:-64.05, Z:-36.45 [[ 9.26119789e-01 3.45521573e-01 1.51383551e-01 2.12459991e+02] [-3.41285704e-01 9.38409288e-01 -5.39636518e-02 -6.40545981e+01] [-1.60705336e-01 -1.68823587e-03 9.87000985e-01 -3.64539992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:-64.06, Z:-36.46 [[ 9.26335640e-01 3.44765740e-01 1.51785592e-01 2.12485112e+02] [-3.40499140e-01 9.38687440e-01 -5.40946023e-02 -6.40624816e+01] [-1.61129194e-01 -1.57310542e-03 9.86932069e-01 -3.64585476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:-64.07, Z:-36.46 [[ 9.26824382e-01 3.43476303e-01 1.51725391e-01 2.12511549e+02] [-3.39198307e-01 9.39160356e-01 -5.40586241e-02 -6.40695154e+01] [-1.61062328e-01 -1.36214474e-03 9.86943297e-01 -3.64628479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:-64.08, Z:-36.47 [[ 9.27202290e-01 3.42444838e-01 1.51747972e-01 2.12536741e+02] [-3.38153737e-01 9.39537177e-01 -5.40550047e-02 -6.40770279e+01] [-1.61083718e-01 -1.19421967e-03 9.86940023e-01 -3.64679062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:-64.09, Z:-36.47 [[ 9.27739405e-01 3.41113349e-01 1.51463790e-01 2.12562872e+02] [-3.36824481e-01 9.40021658e-01 -5.39309877e-02 -6.40855231e+01] [-1.60775823e-01 -9.82810067e-04 9.86990460e-01 -3.64730007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:-64.09, Z:-36.48 [[ 9.28403971e-01 3.39428927e-01 1.51175627e-01 2.12587568e+02] [-3.35136287e-01 9.40631443e-01 -5.38159610e-02 -6.40940637e+01] [-1.60467242e-01 -7.01486488e-04 9.87040917e-01 -3.64779841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.61, Y:-64.10, Z:-36.48 [[ 9.29633721e-01 3.36189097e-01 1.50857668e-01 2.12612768e+02] [-3.31874538e-01 9.41794493e-01 -5.36882112e-02 -6.41025816e+01] [-1.60126312e-01 -1.55447257e-04 9.87096520e-01 -3.64804844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:-64.11, Z:-36.49 [[ 9.30813246e-01 3.32652454e-01 1.51423397e-01 2.12637906e+02] [-3.28261057e-01 9.43049389e-01 -5.38751174e-02 -6.41114779e+01] [-1.60721432e-01 4.41268405e-04 9.86999709e-01 -3.64871119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:-64.12, Z:-36.49 [[ 9.31494373e-01 3.30720317e-01 1.51467177e-01 2.12663839e+02] [-3.26303282e-01 9.43728506e-01 -5.38764869e-02 -6.41206790e+01] [-1.60761942e-01 7.61407261e-04 9.86992917e-01 -3.64919587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.69, Y:-64.13, Z:-36.50 [[ 9.32037380e-01 3.29193610e-01 1.51452597e-01 2.12688493e+02] [-3.24759410e-01 9.44261903e-01 -5.38589308e-02 -6.41295906e+01] [-1.60740934e-01 1.01288056e-03 9.86996113e-01 -3.64961468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:212.71, Y:-64.14, Z:-36.50 [[ 9.32952701e-01 3.26854253e-01 1.50882589e-01 2.12713824e+02] [-3.22425519e-01 9.45073725e-01 -5.36417641e-02 -6.41409838e+01] [-1.60128209e-01 1.39683177e-03 9.87095236e-01 -3.64997721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.74, Y:-64.15, Z:-36.51 [[ 9.33311610e-01 3.25959299e-01 1.50598718e-01 2.12738967e+02] [-3.21537763e-01 9.45382556e-01 -5.35283925e-02 -6.41514117e+01] [-1.59821478e-01 1.53549533e-03 9.87144740e-01 -3.65066010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.77, Y:-64.16, Z:-36.51 [[ 9.33533489e-01 3.25486419e-01 1.50245853e-01 2.12765020e+02] [-3.21081256e-01 9.45545357e-01 -5.33929337e-02 -6.41618433e+01] [-1.59442944e-01 1.60296428e-03 9.87205844e-01 -3.65110222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.79, Y:-64.17, Z:-36.52 [[ 9.33259525e-01 3.26095978e-01 1.50625604e-01 2.12789621e+02] [-3.21678197e-01 9.45335490e-01 -5.35158678e-02 -6.41713051e+01] [-1.59843039e-01 1.49122052e-03 9.87141317e-01 -3.65152095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:-64.18, Z:-36.52 [[ 9.33035576e-01 3.26706705e-01 1.50689555e-01 2.12816337e+02] [-3.22296019e-01 9.45124782e-01 -5.35203096e-02 -6.41808174e+01] [-1.59905876e-01 1.36970939e-03 9.87131316e-01 -3.65201785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.84, Y:-64.19, Z:-36.53 [[ 9.32313684e-01 3.28790237e-01 1.50625947e-01 2.12841530e+02] [-3.24411628e-01 9.44402442e-01 -5.34894693e-02 -6.41913641e+01] [-1.59838327e-01 1.00415555e-03 9.87142695e-01 -3.65253390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.87, Y:-64.20, Z:-36.53 [[ 9.31988080e-01 3.29846222e-01 1.50331927e-01 2.12865916e+02] [-3.25500094e-01 9.44034327e-01 -5.33748799e-02 -6.42006614e+01] [-1.59524002e-01 8.11695488e-04 9.87193717e-01 -3.65305953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16587156000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:212.89, Y:-64.21, Z:-36.53 [[ 9.31653795e-01 3.31021548e-01 1.49819697e-01 2.12891761e+02] [-3.26722510e-01 9.43623008e-01 -5.31791368e-02 -6.42102099e+01] [-1.58976754e-01 5.95077005e-04 9.87282147e-01 -3.65331307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:212.92, Y:-64.22, Z:-36.54 [[ 9.30998150e-01 3.33042341e-01 1.49416345e-01 2.12917627e+02] [-3.28794239e-01 9.42911842e-01 -5.30245786e-02 -6.42197293e+01] [-1.58545871e-01 2.38550974e-04 9.87351584e-01 -3.65392195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.94, Y:-64.23, Z:-36.55 [[ 9.30735045e-01 3.33690036e-01 1.49610277e-01 2.12943349e+02] [-3.29441059e-01 9.42682845e-01 -5.30814716e-02 -6.42280912e+01] [-1.58747800e-01 1.17017743e-04 9.87319159e-01 -3.65454556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.97, Y:-64.24, Z:-36.55 [[ 9.30286301e-01 3.34986466e-01 1.49504066e-01 2.12968436e+02] [-3.30762086e-01 9.42222932e-01 -5.30319564e-02 -6.42373712e+01] [-1.58631148e-01 -1.15374346e-04 9.87337909e-01 -3.65502513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.99, Y:-64.25, Z:-36.55 [[ 9.30036023e-01 3.35703400e-01 1.49453077e-01 2.12994858e+02] [-3.31493361e-01 9.41967709e-01 -5.29998811e-02 -6.42470562e+01] [-1.58572213e-01 -2.50904184e-04 9.87347350e-01 -3.65530486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:-64.26, Z:-36.56 [[ 9.29756976e-01 3.36262914e-01 1.49930710e-01 2.13019583e+02] [-3.32034944e-01 9.41768084e-01 -5.31570544e-02 -6.42557163e+01] [-1.59074703e-01 -3.59092609e-04 9.87266484e-01 -3.65592798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:-64.27, Z:-36.56 [[ 9.29411102e-01 3.37226136e-01 1.49911765e-01 2.13045414e+02] [-3.33013626e-01 9.41423521e-01 -5.31382946e-02 -6.42653479e+01] [-1.59050083e-01 -5.35339397e-04 9.87270371e-01 -3.65643737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.07, Y:-64.27, Z:-36.57 [[ 9.29235589e-01 3.37661992e-01 1.50018663e-01 2.13069922e+02] [-3.33451020e-01 9.41267227e-01 -5.31641270e-02 -6.42744551e+01] [-1.59159156e-01 -6.21877430e-04 9.87252742e-01 -3.65690613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:-64.28, Z:-36.57 [[ 9.28914438e-01 3.38384587e-01 1.50378984e-01 2.13096316e+02] [-3.34165893e-01 9.41007589e-01 -5.32716847e-02 -6.42829486e+01] [-1.59534082e-01 -7.66690383e-04 9.87192124e-01 -3.65732485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:-64.29, Z:-36.58 [[ 9.28878049e-01 3.38484991e-01 1.50377795e-01 2.13122871e+02] [-3.34269638e-01 9.40971454e-01 -5.32590928e-02 -6.42918412e+01] [-1.59528616e-01 -7.95528848e-04 9.87192984e-01 -3.65781681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46587156000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:213.15, Y:-64.30, Z:-36.58 [[ 9.28913324e-01 3.38443648e-01 1.50252897e-01 2.13149203e+02] [-3.34236798e-01 9.40986322e-01 -5.32024944e-02 -6.43020336e+01] [-1.59391968e-01 -7.99541395e-04 9.87215053e-01 -3.65806095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.17, Y:-64.31, Z:-36.59 [[ 9.29005049e-01 3.37854434e-01 1.51009937e-01 2.13174333e+02] [-3.33599086e-01 9.41198104e-01 -5.34581892e-02 -6.43120902e+01] [-1.60191353e-01 -7.13849293e-04 9.87085721e-01 -3.65881816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.20, Y:-64.32, Z:-36.59 [[ 9.29045266e-01 3.37742167e-01 1.51013646e-01 2.13200842e+02] [-3.33487049e-01 9.41238402e-01 -5.34477098e-02 -6.43213129e+01] [-1.60191388e-01 -7.05753301e-04 9.87085721e-01 -3.65930230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.23, Y:-64.33, Z:-36.60 [[ 9.29332486e-01 3.36683627e-01 1.51608925e-01 2.13225913e+02] [-3.32384126e-01 9.41617671e-01 -5.36372569e-02 -6.43319981e+01] [-1.60816429e-01 -5.45554497e-04 9.86984184e-01 -3.65973734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.25, Y:-64.34, Z:-36.60 [[ 9.29593035e-01 3.36104716e-01 1.51295765e-01 2.13250837e+02] [-3.31817437e-01 9.41824512e-01 -5.35142691e-02 -6.43414000e+01] [-1.60480459e-01 -4.56081286e-04 9.87038912e-01 -3.66020070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.28, Y:-64.35, Z:-36.61 [[ 9.29901590e-01 3.35298248e-01 1.51189012e-01 2.13275926e+02] [-3.31008801e-01 9.42111976e-01 -5.34621148e-02 -6.43523610e+01] [-1.60362732e-01 -3.30387870e-04 9.87058096e-01 -3.66070278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.30, Y:-64.36, Z:-36.61 [[ 9.29979360e-01 3.35200269e-01 1.50927695e-01 2.13302161e+02] [-3.30926459e-01 9.42146843e-01 -5.33573309e-02 -6.43627262e+01] [-1.60081443e-01 -3.24751236e-04 9.87103757e-01 -3.66096502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:213.33, Y:-64.37, Z:-36.61 [[ 9.29690083e-01 3.35813125e-01 1.51346937e-01 2.13327193e+02] [-3.31525529e-01 9.41928526e-01 -5.34927599e-02 -6.43728730e+01] [-1.60521568e-01 -4.43685149e-04 9.87032233e-01 -3.66141776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.35, Y:-64.38, Z:-36.62 [[ 9.29518667e-01 3.36245224e-01 1.51440410e-01 2.13352563e+02] [-3.31959675e-01 9.41774320e-01 -5.35154580e-02 -6.43820070e+01] [-1.60617006e-01 -5.28492049e-04 9.87016666e-01 -3.66205957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73587156000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:213.38, Y:-64.39, Z:-36.62 [[ 9.29278751e-01 3.37022787e-01 1.51184140e-01 2.13377997e+02] [-3.32764030e-01 9.41496249e-01 -5.34126641e-02 -6.43910700e+01] [-1.60340585e-01 -6.73389831e-04 9.87061519e-01 -3.66227140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.40, Y:-64.40, Z:-36.63 [[ 9.28301305e-01 3.39445021e-01 1.51768789e-01 2.13403745e+02] [-3.35187548e-01 9.40625242e-01 -5.36046790e-02 -6.44007906e+01] [-1.60953395e-01 -1.10971472e-03 9.86961384e-01 -3.66298735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:213.43, Y:-64.41, Z:-36.63 [[ 9.27684948e-01 3.41133297e-01 1.51752135e-01 2.13429468e+02] [-3.36901192e-01 9.40013869e-01 -5.35864955e-02 -6.44094593e+01] [-1.60929250e-01 -1.41408990e-03 9.86964932e-01 -3.66325499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.45, Y:-64.42, Z:-36.64 [[ 9.26557960e-01 3.44318663e-01 1.51443078e-01 2.13454542e+02] [-3.40148374e-01 9.38850762e-01 -5.34633582e-02 -6.44160083e+01] [-1.60590881e-01 -1.97621661e-03 9.87019080e-01 -3.66395988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.48, Y:-64.42, Z:-36.64 [[ 9.26100122e-01 3.45804118e-01 1.50857802e-01 2.13480721e+02] [-3.41689251e-01 9.38304040e-01 -5.32351881e-02 -6.44243879e+01] [-1.59959433e-01 -2.24537536e-03 9.87121035e-01 -3.66444365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.51, Y:-64.43, Z:-36.65 [[ 9.25710680e-01 3.46942911e-01 1.50633173e-01 2.13506417e+02] [-3.42857265e-01 9.37883050e-01 -5.31439616e-02 -6.44328234e+01] [-1.59714220e-01 -2.44974480e-03 9.87160254e-01 -3.66493874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:-64.44, Z:-36.65 [[ 9.25426461e-01 3.47738708e-01 1.50544531e-01 2.13532651e+02] [-3.43670638e-01 9.37587882e-01 -5.30985500e-02 -6.44409359e+01] [-1.59613150e-01 -2.59893190e-03 9.87176219e-01 -3.66542650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.56, Y:-64.45, Z:-36.66 [[ 9.25210884e-01 3.48297320e-01 1.50578208e-01 2.13558399e+02] [-3.44236780e-01 9.37380203e-01 -5.30979693e-02 -6.44479710e+01] [-1.59642912e-01 -2.70773851e-03 9.87171114e-01 -3.66587900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.58, Y:-64.46, Z:-36.66 [[ 9.25224718e-01 3.47732419e-01 1.51793892e-01 2.13583297e+02] [-3.43600530e-01 9.37590083e-01 -5.35117972e-02 -6.44559937e+01] [-1.60928234e-01 -2.64602409e-03 9.86962564e-01 -3.66633715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:-64.46, Z:-36.67 [[ 9.25510873e-01 3.46711730e-01 1.52383073e-01 2.13608511e+02] [-3.42536051e-01 9.37968426e-01 -5.37055442e-02 -6.44639704e+01] [-1.61550853e-01 -2.49163088e-03 9.86861243e-01 -3.66677328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.63, Y:-64.47, Z:-36.67 [[ 9.25831815e-01 3.45765352e-01 1.52583654e-01 2.13634977e+02] [-3.41569583e-01 9.38318066e-01 -5.37533955e-02 -6.44722202e+01] [-1.61758061e-01 -2.35133146e-03 9.86827645e-01 -3.66722338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:-64.48, Z:-36.68 [[ 9.26242373e-01 3.44785682e-01 1.52308571e-01 2.13661253e+02] [-3.40593941e-01 9.38678884e-01 -5.36443798e-02 -6.44805269e+01] [-1.61464653e-01 -2.18767883e-03 9.86876071e-01 -3.66770501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:-64.49, Z:-36.68 [[ 9.27101683e-01 3.42671889e-01 1.51850078e-01 2.13687095e+02] [-3.38479390e-01 9.39453374e-01 -5.34701766e-02 -6.44886905e+01] [-1.60978794e-01 -1.82583095e-03 9.86956176e-01 -3.66828025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:213.71, Y:-64.50, Z:-36.69 [[ 9.27666100e-01 3.41549475e-01 1.50929001e-01 2.13712755e+02] [-3.37395239e-01 9.39862379e-01 -5.31334374e-02 -6.44976977e+01] [-1.60000187e-01 -1.63263765e-03 9.87115634e-01 -3.66852595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.74, Y:-64.51, Z:-36.69 [[ 9.28927510e-01 3.38379719e-01 1.50309173e-01 2.13738466e+02] [-3.34220836e-01 9.41009014e-01 -5.29005441e-02 -6.45064144e+01] [-1.59342758e-01 -1.09568687e-03 9.87222713e-01 -3.66908398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.76, Y:-64.52, Z:-36.69 [[ 9.29416948e-01 3.37090983e-01 1.50179246e-01 2.13763594e+02] [-3.32924594e-01 9.41471659e-01 -5.28424960e-02 -6.45153929e+01] [-1.59202233e-01 -8.85653162e-04 9.87245595e-01 -3.66947403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.79, Y:-64.52, Z:-36.70 [[ 9.30116631e-01 3.34838149e-01 1.50885605e-01 2.13789746e+02] [-3.30605148e-01 9.42275515e-01 -5.30762546e-02 -6.45246174e+01] [-1.59947766e-01 -5.16450727e-04 9.87125344e-01 -3.67012269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.82, Y:-64.53, Z:-36.71 [[ 9.30330208e-01 3.34027816e-01 1.51364204e-01 2.13815912e+02] [-3.29759064e-01 9.42563136e-01 -5.32324493e-02 -6.45333589e+01] [-1.60451438e-01 -3.89962704e-04 9.87043659e-01 -3.67058013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-64.54, Z:-36.71 [[ 9.30499031e-01 3.33166187e-01 1.52223010e-01 2.13840739e+02] [-3.28839074e-01 9.42868086e-01 -5.35222939e-02 -6.45432004e+01] [-1.61358036e-01 -2.54430847e-04 9.86895901e-01 -3.67109895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:-64.55, Z:-36.72 [[ 9.30640086e-01 3.32835390e-01 1.52084295e-01 2.13866471e+02] [-3.28514144e-01 9.42984920e-01 -5.34593167e-02 -6.45528700e+01] [-1.61206349e-01 -2.10458820e-04 9.86920700e-01 -3.67158323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:-64.56, Z:-36.72 [[ 9.30721755e-01 3.32649318e-01 1.51991596e-01 2.13891917e+02] [-3.28332966e-01 9.43050579e-01 -5.34141225e-02 -6.45618464e+01] [-1.61103934e-01 -1.90165614e-04 9.86937428e-01 -3.67202184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:213.92, Y:-64.57, Z:-36.72 [[ 9.30792833e-01 3.32695666e-01 1.51453938e-01 2.13918223e+02] [-3.28412258e-01 9.43034226e-01 -5.32150157e-02 -6.45708144e+01] [-1.60530652e-01 -2.07174662e-04 9.87030834e-01 -3.67232219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.94, Y:-64.58, Z:-36.73 [[ 9.30831383e-01 3.32681603e-01 1.51247769e-01 2.13943943e+02] [-3.28411746e-01 9.43039185e-01 -5.31302233e-02 -6.45802094e+01] [-1.60308021e-01 -2.16264761e-04 9.87067015e-01 -3.67282336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.97, Y:-64.59, Z:-36.73 [[ 9.30978447e-01 3.32288485e-01 1.51206790e-01 2.13969935e+02] [-3.28017818e-01 9.43177787e-01 -5.31034275e-02 -6.45894356e+01] [-1.60260543e-01 -1.60374817e-04 9.87074735e-01 -3.67347034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.00, Y:-64.60, Z:-36.74 [[ 9.31100102e-01 3.32036500e-01 1.51011134e-01 2.13995272e+02] [-3.27775648e-01 9.43266530e-01 -5.30224299e-02 -6.45981140e+01] [-1.60049130e-01 -1.28582306e-04 9.87109041e-01 -3.67392404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.02, Y:-64.61, Z:-36.74 [[ 9.31221657e-01 3.31730958e-01 1.50933092e-01 2.14021272e+02] [-3.27472911e-01 9.43374032e-01 -5.29804601e-02 -6.46069527e+01] [-1.59961618e-01 -8.99470819e-05 9.87123231e-01 -3.67440755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.05, Y:-64.62, Z:-36.75 [[ 9.31024460e-01 3.31828367e-01 1.51932186e-01 2.14047154e+02] [-3.27516651e-01 9.43339770e-01 -5.33190660e-02 -6.46167793e+01] [-1.61016452e-01 -1.18966081e-04 9.86951715e-01 -3.67486020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:214.07, Y:-64.63, Z:-36.75 [[ 9.30876296e-01 3.32086685e-01 1.52275261e-01 2.14073590e+02] [-3.27760783e-01 9.43248855e-01 -5.34272036e-02 -6.46258400e+01] [-1.61375928e-01 -1.75741319e-04 9.86892993e-01 -3.67513450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.10, Y:-64.63, Z:-36.76 [[ 9.30288679e-01 3.33352596e-01 1.53098074e-01 2.14098796e+02] [-3.28998579e-01 9.42802142e-01 -5.37034086e-02 -6.46341960e+01] [-1.62243363e-01 -4.09375717e-04 9.86750690e-01 -3.67553112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:214.12, Y:-64.64, Z:-36.76 [[ 9.29939260e-01 3.34021136e-01 1.53762325e-01 2.14124219e+02] [-3.29641234e-01 9.42565426e-01 -5.39172982e-02 -6.46430556e+01] [-1.62940569e-01 -5.46590224e-04 9.86635734e-01 -3.67611404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63587156000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:214.15, Y:-64.65, Z:-36.76 [[ 9.29382426e-01 3.35575080e-01 1.53745477e-01 2.14150996e+02] [-3.31219285e-01 9.42013097e-01 -5.38990723e-02 -6.46511621e+01] [-1.62917438e-01 -8.30616202e-04 9.86639356e-01 -3.67635493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:214.18, Y:-64.66, Z:-36.77 [[ 9.29098740e-01 3.36452283e-01 1.53542805e-01 2.14176894e+02] [-3.32121954e-01 9.41699990e-01 -5.38157608e-02 -6.46588772e+01] [-1.62697694e-01 -9.94781017e-04 9.86675464e-01 -3.67684071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:214.20, Y:-64.67, Z:-36.77 [[ 9.28745116e-01 3.37474045e-01 1.53439820e-01 2.14201988e+02] [-3.33166698e-01 9.41334079e-01 -5.37596810e-02 -6.46663627e+01] [-1.62580629e-01 -1.19199713e-03 9.86694542e-01 -3.67731627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:-64.67, Z:-36.78 [[ 9.28206516e-01 3.39133043e-01 1.53040655e-01 2.14228130e+02] [-3.34872934e-01 9.40737239e-01 -5.36056466e-02 -6.46738458e+01] [-1.62150489e-01 -1.49206256e-03 9.86764913e-01 -3.67800339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.25, Y:-64.68, Z:-36.79 [[ 9.28113533e-01 3.39495754e-01 1.52800209e-01 2.14253024e+02] [-3.35255982e-01 9.40606286e-01 -5.35092626e-02 -6.46814651e+01] [-1.61891005e-01 -1.56451342e-03 9.86807405e-01 -3.67852396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:214.28, Y:-64.69, Z:-36.79 [[ 9.28002805e-01 3.40078952e-01 1.52174571e-01 2.14279545e+02] [-3.35885484e-01 9.40395386e-01 -5.32678086e-02 -6.46890002e+01] [-1.61219525e-01 -1.68055358e-03 9.86917140e-01 -3.67886968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:-64.70, Z:-36.79 [[ 9.27964248e-01 3.40166810e-01 1.52213325e-01 2.14305040e+02] [-3.35974343e-01 9.40363560e-01 -5.32692754e-02 -6.46977668e+01] [-1.61256304e-01 -1.70778880e-03 9.86911084e-01 -3.67949902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.33, Y:-64.71, Z:-36.80 [[ 9.28034873e-01 3.39843402e-01 1.52504875e-01 2.14331802e+02] [-3.35632465e-01 9.40480560e-01 -5.33588217e-02 -6.47062947e+01] [-1.61561513e-01 -1.66673974e-03 9.86861236e-01 -3.67995714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:214.36, Y:-64.71, Z:-36.80 [[ 9.28271663e-01 3.38735236e-01 1.53525762e-01 2.14358627e+02] [-3.34454386e-01 9.40880546e-01 -5.37034605e-02 -6.47131932e+01] [-1.62640658e-01 -1.49596408e-03 9.86684235e-01 -3.68018913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-64.72, Z:-36.81 [[ 9.28446912e-01 3.38054345e-01 1.53966200e-01 2.14383904e+02] [-3.33741495e-01 9.41125560e-01 -5.38450921e-02 -6.47211017e+01] [-1.63104093e-01 -1.39260026e-03 9.86607883e-01 -3.68078235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:-64.73, Z:-36.81 [[ 9.28920219e-01 3.36866280e-01 1.53715115e-01 2.14409787e+02] [-3.32553799e-01 9.41551740e-01 -5.37428196e-02 -6.47289509e+01] [-1.62834877e-01 -1.19575365e-03 9.86652610e-01 -3.68126986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.44, Y:-64.74, Z:-36.82 [[ 9.29157029e-01 3.36206336e-01 1.53728704e-01 2.14436334e+02] [-3.31886454e-01 9.41787717e-01 -5.37333967e-02 -6.47375600e+01] [-1.62845314e-01 -1.09371128e-03 9.86651006e-01 -3.68178414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.46, Y:-64.75, Z:-36.82 [[ 9.29278720e-01 3.35849992e-01 1.53772048e-01 2.14462036e+02] [-3.31524811e-01 9.41914909e-01 -5.37364397e-02 -6.47455656e+01] [-1.62887568e-01 -1.04311936e-03 9.86644086e-01 -3.68225033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.49, Y:-64.75, Z:-36.83 [[ 9.29360875e-01 3.35727123e-01 1.53543682e-01 2.14489355e+02] [-3.31415538e-01 9.41958720e-01 -5.36424307e-02 -6.47523605e+01] [-1.62641029e-01 -1.03358570e-03 9.86684766e-01 -3.68273362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.52, Y:-64.76, Z:-36.83 [[ 9.29430395e-01 3.35817915e-01 1.52923082e-01 2.14515555e+02] [-3.31544583e-01 9.41926330e-01 -5.34132821e-02 -6.47603449e+01] [-1.61979415e-01 -1.05689172e-03 9.86793571e-01 -3.68316988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:-64.77, Z:-36.84 [[ 9.29497557e-01 3.35848949e-01 1.52445977e-01 2.14541126e+02] [-3.31604868e-01 9.41915249e-01 -5.32341526e-02 -6.47680539e+01] [-1.61469825e-01 -1.07081325e-03 9.86877069e-01 -3.68370875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:-64.77, Z:-36.84 [[ 9.29578083e-01 3.35827845e-01 1.52000808e-01 2.14566412e+02] [-3.31610767e-01 9.41922766e-01 -5.30641345e-02 -6.47746365e+01] [-1.60993436e-01 -1.07784805e-03 9.86954889e-01 -3.68420930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:-64.78, Z:-36.85 [[ 9.29722936e-01 3.35519662e-01 1.51795318e-01 2.14592186e+02] [-3.31312314e-01 9.42032633e-01 -5.29780037e-02 -6.47821618e+01] [-1.60771305e-01 -1.03679308e-03 9.86991141e-01 -3.68470462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.62, Y:-64.79, Z:-36.85 [[ 9.29884109e-01 3.34828647e-01 1.52332930e-01 2.14619394e+02] [-3.30584364e-01 9.42278571e-01 -5.31514212e-02 -6.47891649e+01] [-1.61336674e-01 -9.34222797e-04 9.86898984e-01 -3.68513884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.64, Y:-64.80, Z:-36.86 [[ 9.29972489e-01 3.34408509e-01 1.52715809e-01 2.14644909e+02] [-3.30139098e-01 9.42427813e-01 -5.32728137e-02 -6.47961277e+01] [-1.61738508e-01 -8.75208233e-04 9.86833263e-01 -3.68559440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.67, Y:-64.80, Z:-36.86 [[ 9.30115597e-01 3.34006966e-01 1.52723029e-01 2.14670998e+02] [-3.29734096e-01 9.42570250e-01 -5.32611466e-02 -6.48033184e+01] [-1.61741778e-01 -8.18966945e-04 9.86832775e-01 -3.68604362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:214.70, Y:-64.81, Z:-36.86 [[ 9.30157857e-01 3.33729507e-01 1.53071805e-01 2.14697870e+02] [-3.29435586e-01 9.42668551e-01 -5.33685016e-02 -6.48093627e+01] [-1.62106621e-01 -7.86168803e-04 9.86772935e-01 -3.68640577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-64.82, Z:-36.87 [[ 9.30028503e-01 3.33894586e-01 1.53497195e-01 2.14723949e+02] [-3.29580835e-01 9.42610056e-01 -5.35047149e-02 -6.48165948e+01] [-1.62552935e-01 -8.28823919e-04 9.86699476e-01 -3.68703107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.75, Y:-64.82, Z:-36.87 [[ 9.29700103e-01 3.35011291e-01 1.53052777e-01 2.14749977e+02] [-3.30739555e-01 9.42213548e-01 -5.33383248e-02 -6.48216336e+01] [-1.62077341e-01 -1.03196135e-03 9.86777518e-01 -3.68748620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.78, Y:-64.83, Z:-36.88 [[ 9.29485769e-01 3.35743415e-01 1.52750005e-01 2.14776952e+02] [-3.31501981e-01 9.41952744e-01 -5.32115032e-02 -6.48286746e+01] [-1.61748698e-01 -1.17759433e-03 9.86831278e-01 -3.68783162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:-64.84, Z:-36.88 [[ 9.29199615e-01 3.36517672e-01 1.52787213e-01 2.14803905e+02] [-3.32289729e-01 9.41676194e-01 -5.31928812e-02 -6.48350491e+01] [-1.61776426e-01 -1.34281684e-03 9.86826522e-01 -3.68841904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41587156000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:214.83, Y:-64.84, Z:-36.89 [[ 9.28639567e-01 3.38200267e-01 1.52476666e-01 2.14832038e+02] [-3.34017280e-01 9.41072694e-01 -5.30531962e-02 -6.48391239e+01] [-1.61434232e-01 -1.66254400e-03 9.86882072e-01 -3.68876805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44587156000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:214.86, Y:-64.85, Z:-36.89 [[ 9.28678037e-01 3.38090142e-01 1.52486590e-01 2.14858591e+02] [-3.33910366e-01 9.41112243e-01 -5.30246555e-02 -6.48482037e+01] [-1.61434110e-01 -1.67402018e-03 9.86882073e-01 -3.68925237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:-64.85, Z:-36.90 [[ 9.28688493e-01 3.38178001e-01 1.52227865e-01 2.14883942e+02] [-3.34016840e-01 9.41080620e-01 -5.29151948e-02 -6.48538068e+01] [-1.61153448e-01 -1.70493786e-03 9.86927890e-01 -3.68989916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.91, Y:-64.86, Z:-36.90 [[ 9.28810185e-01 3.37967932e-01 1.51951691e-01 2.14911319e+02] [-3.33822547e-01 9.41156117e-01 -5.27983932e-02 -6.48585729e+01] [-1.60854428e-01 -1.68521521e-03 9.86976703e-01 -3.69042532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-64.87, Z:-36.91 [[ 9.29005658e-01 3.37538274e-01 1.51711573e-01 2.14937314e+02] [-3.33405593e-01 9.41310378e-01 -5.26828478e-02 -6.48655328e+01] [-1.60590155e-01 -1.63882309e-03 9.87019816e-01 -3.69091321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.96, Y:-64.87, Z:-36.91 [[ 9.29329139e-01 3.36818632e-01 1.51329313e-01 2.14963981e+02] [-3.32699409e-01 9.41568315e-01 -5.25377144e-02 -6.48721950e+01] [-1.60182568e-01 -1.52234427e-03 9.87086231e-01 -3.69126823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.99, Y:-64.88, Z:-36.92 [[ 9.29657906e-01 3.35876843e-01 1.51403187e-01 2.14989750e+02] [-3.31746305e-01 9.41904885e-01 -5.25316819e-02 -6.48778832e+01] [-1.60251577e-01 -1.39095451e-03 9.87075224e-01 -3.69167776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:-64.88, Z:-36.92 [[ 9.30271499e-01 3.34058581e-01 1.51656857e-01 2.15017340e+02] [-3.29892081e-01 9.42551682e-01 -5.26074222e-02 -6.48820757e+01] [-1.60518386e-01 -1.09121046e-03 9.87032247e-01 -3.69230040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.04, Y:-64.89, Z:-36.93 [[ 9.30639074e-01 3.32958388e-01 1.51821031e-01 2.15043285e+02] [-3.28773652e-01 9.42941058e-01 -5.26312268e-02 -6.48887673e+01] [-1.60682292e-01 -9.34078855e-04 9.87005739e-01 -3.69274628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.07, Y:-64.89, Z:-36.93 [[ 9.31353648e-01 3.30313734e-01 1.53209722e-01 2.15070697e+02] [-3.26019634e-01 9.43871063e-01 -5.30906204e-02 -6.48934434e+01] [-1.62146784e-01 -5.03234497e-04 9.86766521e-01 -3.69319833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:215.10, Y:-64.90, Z:-36.93 [[ 9.31790998e-01 3.28869170e-01 1.53657431e-01 2.15096695e+02] [-3.24535831e-01 9.44375449e-01 -5.32119032e-02 -6.48996416e+01] [-1.62610060e-01 -2.84969680e-04 9.86690371e-01 -3.69348158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.12, Y:-64.91, Z:-36.94 [[ 9.32369887e-01 3.27200580e-01 1.53708080e-01 2.15123531e+02] [-3.22844052e-01 9.44954909e-01 -5.32159540e-02 -6.49064422e+01] [-1.62659496e-01 -6.78645752e-06 9.86682263e-01 -3.69407081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:215.15, Y:-64.91, Z:-36.94 [[ 9.33747198e-01 3.23278860e-01 1.53645531e-01 2.15151563e+02] [-3.18878680e-01 9.46303526e-01 -5.31603539e-02 -6.49111796e+01] [-1.62580926e-01 6.44047426e-04 9.86695002e-01 -3.69438277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:215.18, Y:-64.92, Z:-36.95 [[ 9.34544401e-01 3.20908808e-01 1.53767034e-01 2.15177622e+02] [-3.16471775e-01 9.47109521e-01 -5.31899523e-02 -6.49178606e+01] [-1.62703346e-01 1.04544591e-03 9.86674479e-01 -3.69483772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-64.93, Z:-36.96 [[ 9.36377902e-01 3.15635603e-01 1.53527163e-01 2.15203454e+02] [-3.11144361e-01 9.48878486e-01 -5.30924270e-02 -6.49250145e+01] [-1.62436482e-01 1.94546436e-03 9.86717084e-01 -3.69550593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-64.93, Z:-36.96 [[ 9.37319060e-01 3.12786389e-01 1.53615279e-01 2.15228625e+02] [-3.08253914e-01 9.49820390e-01 -5.31107424e-02 -6.49332702e+01] [-1.62519241e-01 2.42920021e-03 9.86702384e-01 -3.69600285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:215.25, Y:-64.94, Z:-36.96 [[ 9.38292419e-01 3.09970340e-01 1.53380979e-01 2.15254490e+02] [-3.05416701e-01 9.50741807e-01 -5.30156050e-02 -6.49411750e+01] [-1.62258975e-01 2.89902750e-03 9.86743949e-01 -3.69631876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:-64.95, Z:-36.97 [[ 9.40009944e-01 3.05024621e-01 1.52778553e-01 2.15279956e+02] [-3.00444220e-01 9.52337180e-01 -5.27936236e-02 -6.49501457e+01] [-1.61600051e-01 3.72509799e-03 9.86849303e-01 -3.69703293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:-64.96, Z:-36.97 [[ 9.40766606e-01 3.02867263e-01 1.52412644e-01 2.15305425e+02] [-2.98282691e-01 9.53024039e-01 -5.26556585e-02 -6.49591537e+01] [-1.61200588e-01 4.07463170e-03 9.86913252e-01 -3.69749490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.33, Y:-64.97, Z:-36.98 [[ 9.41338051e-01 3.01279613e-01 1.52030483e-01 2.15331345e+02] [-2.96699800e-01 9.53526041e-01 -5.25101654e-02 -6.49683093e+01] [-1.60785267e-01 4.32240298e-03 9.86979947e-01 -3.69797790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:-64.98, Z:-36.98 [[ 9.41986409e-01 2.99537454e-01 1.51455997e-01 2.15357228e+02] [-2.94972055e-01 9.54073500e-01 -5.22995486e-02 -6.49769077e+01] [-1.60165827e-01 4.59017731e-03 9.87079449e-01 -3.69842390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.38, Y:-64.99, Z:-36.99 [[ 9.42062831e-01 2.99345222e-01 1.51360697e-01 2.15382467e+02] [-2.94785060e-01 9.54133743e-01 -5.22548425e-02 -6.49854777e+01] [-1.60060585e-01 4.60847287e-03 9.87096434e-01 -3.69870481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.41, Y:-64.99, Z:-36.99 [[ 9.41872791e-01 2.99959104e-01 1.51328060e-01 2.15407501e+02] [-2.95411977e-01 9.53941523e-01 -5.22238975e-02 -6.49943816e+01] [-1.60023154e-01 4.48414662e-03 9.87103076e-01 -3.69930726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.43, Y:-65.00, Z:-37.00 [[ 9.41759500e-01 3.00509888e-01 1.50939892e-01 2.15432757e+02] [-2.95995458e-01 9.53768707e-01 -5.20763090e-02 -6.50037086e+01] [-1.59611191e-01 4.36583633e-03 9.87170303e-01 -3.69973651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.46, Y:-65.01, Z:-37.00 [[ 9.41508352e-01 3.01311760e-01 1.50908072e-01 2.15458162e+02] [-2.96812868e-01 9.53516392e-01 -5.20443172e-02 -6.50131691e+01] [-1.59574885e-01 4.20870158e-03 9.87176855e-01 -3.70023360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:215.48, Y:-65.02, Z:-37.01 [[ 9.40778326e-01 3.03237061e-01 1.51602859e-01 2.15483353e+02] [-2.98723095e-01 9.52907215e-01 -5.22719078e-02 -6.50226549e+01] [-1.60314238e-01 3.88900257e-03 9.87058367e-01 -3.70053889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.51, Y:-65.03, Z:-37.01 [[ 9.40466883e-01 3.04154875e-01 1.51696584e-01 2.15509032e+02] [-2.99649432e-01 9.52615328e-01 -5.22900978e-02 -6.50315748e+01] [-1.60412779e-01 3.72131018e-03 9.87043004e-01 -3.70104110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:-65.04, Z:-37.01 [[ 9.39949109e-01 3.05353742e-01 1.52495132e-01 2.15535226e+02] [-3.00818085e-01 9.52232469e-01 -5.25528715e-02 -6.50405805e+01] [-1.61258032e-01 3.52373122e-03 9.86905989e-01 -3.70147303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.56, Y:-65.05, Z:-37.02 [[ 9.39378768e-01 3.06927895e-01 1.52848937e-01 2.15561650e+02] [-3.02393752e-01 9.51727225e-01 -5.26622120e-02 -6.50498602e+01] [-1.61633996e-01 3.24920032e-03 9.86845426e-01 -3.70194047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28587156000003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:215.59, Y:-65.06, Z:-37.02 [[ 9.38317576e-01 3.10425213e-01 1.52303362e-01 2.15587139e+02] [-3.05971335e-01 9.50594180e-01 -5.24618667e-02 -6.50595039e+01] [-1.61064176e-01 2.62542854e-03 9.86940443e-01 -3.70228272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.61, Y:-65.07, Z:-37.03 [[ 9.37837542e-01 3.12026103e-01 1.51988343e-01 2.15612404e+02] [-3.07614002e-01 9.50070668e-01 -5.23388087e-02 -6.50683475e+01] [-1.60730741e-01 2.33155743e-03 9.86995538e-01 -3.70287781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.64, Y:-65.08, Z:-37.03 [[ 9.36751943e-01 3.15639293e-01 1.51220481e-01 2.15638312e+02] [-3.11320916e-01 9.48877748e-01 -5.20606027e-02 -6.50783254e+01] [-1.59922121e-01 1.68977220e-03 9.87128188e-01 -3.70339336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.67, Y:-65.09, Z:-37.04 [[ 9.36212342e-01 3.17414129e-01 1.50846683e-01 2.15665106e+02] [-3.13141974e-01 9.48286027e-01 -5.19202864e-02 -6.50871173e+01] [-1.59526035e-01 1.37198470e-03 9.87192768e-01 -3.70373465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40587156000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:215.69, Y:-65.10, Z:-37.04 [[ 9.35036223e-01 3.20883195e-01 1.50801980e-01 2.15691791e+02] [-3.16660050e-01 9.47118463e-01 -5.18944194e-02 -6.50952661e+01] [-1.59479387e-01 7.70199371e-04 9.87200958e-01 -3.70415250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.72, Y:-65.10, Z:-37.05 [[ 9.34522718e-01 3.22332708e-01 1.50893722e-01 2.15717643e+02] [-3.18128135e-01 9.46626316e-01 -5.18951686e-02 -6.51038617e+01] [-1.59567478e-01 4.93675726e-04 9.87186900e-01 -3.70477249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.74, Y:-65.11, Z:-37.05 [[ 9.34134406e-01 3.23453812e-01 1.50899114e-01 2.15742167e+02] [-3.19265420e-01 9.46243915e-01 -5.18849197e-02 -6.51126618e+01] [-1.59569743e-01 2.90619814e-04 9.87186615e-01 -3.70526528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:-65.12, Z:-37.06 [[ 9.33969962e-01 3.23985454e-01 1.50776444e-01 2.15768406e+02] [-3.19812883e-01 9.46062044e-01 -5.18298153e-02 -6.51221600e+01] [-1.59435977e-01 1.87241413e-04 9.87208253e-01 -3.70576225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.79, Y:-65.13, Z:-37.06 [[ 9.33608635e-01 3.24913726e-01 1.51016514e-01 2.15794288e+02] [-3.20745298e-01 9.45743660e-01 -5.18785469e-02 -6.51317842e+01] [-1.59678963e-01 -3.57741528e-06 9.87168997e-01 -3.70619242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.82, Y:-65.14, Z:-37.07 [[ 9.33535224e-01 3.25001702e-01 1.51280798e-01 2.15819399e+02] [-3.20821684e-01 9.45713431e-01 -5.19572349e-02 -6.51403309e+01] [-1.59954472e-01 -3.02514405e-05 9.87124392e-01 -3.70665604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.84, Y:-65.15, Z:-37.07 [[ 9.33437019e-01 3.24968704e-01 1.51956157e-01 2.15844263e+02] [-3.20754480e-01 9.45724769e-01 -5.21653585e-02 -6.51486522e+01] [-1.60660810e-01 -4.75413361e-05 9.87009677e-01 -3.70706892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:-65.16, Z:-37.08 [[ 9.33476101e-01 3.24639424e-01 1.52419201e-01 2.15870382e+02] [-3.20397154e-01 9.45837853e-01 -5.23107960e-02 -6.51572842e+01] [-1.61145996e-01 -3.80018034e-06 9.86930579e-01 -3.70752219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.90, Y:-65.17, Z:-37.08 [[ 9.33495565e-01 3.24428879e-01 1.52747939e-01 2.15895975e+02] [-3.20170930e-01 9.45910092e-01 -5.23896259e-02 -6.51666132e+01] [-1.61482525e-01 3.36352101e-08 9.86875572e-01 -3.70801651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.92, Y:-65.18, Z:-37.08 [[ 9.33757020e-01 3.24120830e-01 1.51800909e-01 2.15920872e+02] [-3.19913762e-01 9.46015690e-01 -5.20528484e-02 -6.51762676e+01] [-1.60477454e-01 4.15126953e-05 9.87039505e-01 -3.70849592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.95, Y:-65.19, Z:-37.09 [[ 9.33854508e-01 3.24010495e-01 1.51436315e-01 2.15946950e+02] [-3.19824403e-01 9.46053485e-01 -5.19148743e-02 -6.51850599e+01] [-1.60087817e-01 4.79104132e-05 9.87102775e-01 -3.70894036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.97, Y:-65.19, Z:-37.09 [[ 9.34036722e-01 3.23588841e-01 1.51213967e-01 2.15973129e+02] [-3.19414882e-01 9.46197788e-01 -5.18061697e-02 -6.51937114e+01] [-1.59842219e-01 8.88735041e-05 9.87142572e-01 -3.70945466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.00, Y:-65.20, Z:-37.10 [[ 9.34286184e-01 3.22971790e-01 1.50991887e-01 2.15998590e+02] [-3.18804150e-01 9.46408575e-01 -5.17177348e-02 -6.52026244e+01] [-1.59603386e-01 1.82324785e-04 9.87181202e-01 -3.70993260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.02, Y:-65.21, Z:-37.10 [[ 9.34613709e-01 3.22133433e-01 1.50755652e-01 2.16023441e+02] [-3.17970328e-01 9.46694224e-01 -5.16228231e-02 -6.52118312e+01] [-1.59348942e-01 3.11574131e-04 9.87222274e-01 -3.71042572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:-65.22, Z:-37.11 [[ 9.34770678e-01 3.21823977e-01 1.50443035e-01 2.16049455e+02] [-3.17677740e-01 9.46799456e-01 -5.14941065e-02 -6.52208719e+01] [-1.59011422e-01 3.42777461e-04 9.87276684e-01 -3.71084448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.08, Y:-65.23, Z:-37.11 [[ 9.34928363e-01 3.21556785e-01 1.50033962e-01 2.16075798e+02] [-3.17431732e-01 9.46890222e-01 -5.13420214e-02 -6.52301169e+01] [-1.58575067e-01 3.75571769e-04 9.87346853e-01 -3.71132671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:-65.24, Z:-37.12 [[ 9.34972713e-01 3.21370256e-01 1.50157199e-01 2.16100629e+02] [-3.17237951e-01 9.46953537e-01 -5.13719823e-02 -6.52390051e+01] [-1.58701317e-01 3.95839644e-04 9.87326560e-01 -3.71184605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.13, Y:-65.25, Z:-37.12 [[ 9.34995452e-01 3.21392630e-01 1.49967603e-01 2.16125667e+02] [-3.17273412e-01 9.46945951e-01 -5.12927663e-02 -6.52479897e+01] [-1.58496331e-01 3.77770283e-04 9.87359494e-01 -3.71234301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.15, Y:-65.26, Z:-37.13 [[ 9.35146504e-01 3.21035251e-01 1.49791131e-01 2.16151556e+02] [-3.16923225e-01 9.47067150e-01 -5.12199479e-02 -6.52571280e+01] [-1.58305668e-01 4.25866976e-04 9.87390062e-01 -3.71279854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.18, Y:-65.27, Z:-37.13 [[ 9.35181601e-01 3.20911519e-01 1.49837149e-01 2.16177410e+02] [-3.16800671e-01 9.47109088e-01 -5.12026390e-02 -6.52663591e+01] [-1.58343642e-01 4.15256615e-04 9.87383977e-01 -3.71325942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.20, Y:-65.28, Z:-37.14 [[ 9.35232477e-01 3.20601838e-01 1.50182143e-01 2.16203318e+02] [-3.16469855e-01 9.47213942e-01 -5.13086575e-02 -6.52755844e+01] [-1.58704270e-01 4.57401653e-04 9.87326058e-01 -3.71368810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:-65.28, Z:-37.14 [[ 9.35176927e-01 3.20732896e-01 1.50248210e-01 2.16229071e+02] [-3.16600905e-01 9.47169589e-01 -5.13189722e-02 -6.52839839e+01] [-1.58770218e-01 4.23599618e-04 9.87315471e-01 -3.71413471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.26, Y:-65.29, Z:-37.15 [[ 9.35173577e-01 3.20770890e-01 1.50187937e-01 2.16255539e+02] [-3.16645056e-01 9.47156731e-01 -5.12838619e-02 -6.52922739e+01] [-1.58701886e-01 4.03044761e-04 9.87326465e-01 -3.71459530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.28, Y:-65.30, Z:-37.15 [[ 9.35123279e-01 3.20711549e-01 1.50627209e-01 2.16280431e+02] [-3.16562577e-01 9.47176826e-01 -5.14217283e-02 -6.53012164e+01] [-1.59162144e-01 4.02717588e-04 9.87252374e-01 -3.71505863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.31, Y:-65.31, Z:-37.16 [[ 9.35150364e-01 3.20472862e-01 1.50966689e-01 2.16306316e+02] [-3.16304279e-01 9.47257599e-01 -5.15232347e-02 -6.53105960e+01] [-1.59516142e-01 4.30561744e-04 9.87195226e-01 -3.71554666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:-65.32, Z:-37.16 [[ 9.35472613e-01 3.19680357e-01 1.50650123e-01 2.16330932e+02] [-3.15521076e-01 9.47525284e-01 -5.14031775e-02 -6.53199971e+01] [-1.59177387e-01 5.52975890e-04 9.87249844e-01 -3.71599938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:-65.33, Z:-37.16 [[ 9.35559969e-01 3.19348582e-01 1.50811229e-01 2.16357185e+02] [-3.15178379e-01 9.47637128e-01 -5.14437791e-02 -6.53292435e+01] [-1.59342818e-01 5.96301674e-04 9.87223131e-01 -3.71649382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.38, Y:-65.34, Z:-37.17 [[ 9.35646336e-01 3.19054842e-01 1.50897126e-01 2.16382558e+02] [-3.14877922e-01 9.47736041e-01 -5.14615435e-02 -6.53379523e+01] [-1.59429700e-01 6.35631068e-04 9.87209080e-01 -3.71695643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.41, Y:-65.35, Z:-37.17 [[ 9.35854971e-01 3.18488540e-01 1.50799612e-01 2.16408410e+02] [-3.14313428e-01 9.47926446e-01 -5.14054723e-02 -6.53471388e+01] [-1.59318994e-01 7.09723863e-04 9.87226901e-01 -3.71740043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.43, Y:-65.36, Z:-37.18 [[ 9.35963374e-01 3.18102789e-01 1.50940976e-01 2.16433857e+02] [-3.13916776e-01 9.48055922e-01 -5.14414851e-02 -6.53561087e+01] [-1.59464166e-01 7.64441377e-04 9.87203421e-01 -3.71784573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.46, Y:-65.37, Z:-37.18 [[ 9.36150607e-01 3.17456577e-01 1.51140210e-01 2.16460160e+02] [-3.13253392e-01 9.48272418e-01 -5.14949854e-02 -6.53658468e+01] [-1.59669514e-01 8.61878483e-04 9.87170149e-01 -3.71829787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.49, Y:-65.37, Z:-37.19 [[ 9.36188177e-01 3.17344073e-01 1.51143761e-01 2.16486768e+02] [-3.13141114e-01 9.48310067e-01 -5.14845581e-02 -6.53747582e+01] [-1.59669470e-01 8.69908676e-04 9.87170149e-01 -3.71878196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.51, Y:-65.38, Z:-37.19 [[ 9.36232281e-01 3.17267922e-01 1.51030402e-01 2.16513402e+02] [-3.13073674e-01 9.48335554e-01 -5.14252095e-02 -6.53833698e+01] [-1.59543069e-01 8.62298394e-04 9.87190592e-01 -3.71907963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.54, Y:-65.39, Z:-37.20 [[ 9.36253607e-01 3.17233169e-01 1.50971190e-01 2.16538650e+02] [-3.13043648e-01 9.48347185e-01 -5.13934991e-02 -6.53915743e+01] [-1.59476826e-01 8.56776691e-04 9.87201301e-01 -3.71964565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:-65.40, Z:-37.20 [[ 9.36188106e-01 3.17463126e-01 1.50893980e-01 2.16563908e+02] [-3.13284563e-01 9.48270284e-01 -5.13444403e-02 -6.54000317e+01] [-1.59388243e-01 7.95299874e-04 9.87215658e-01 -3.72014520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.59, Y:-65.41, Z:-37.21 [[ 9.36028056e-01 3.17850552e-01 1.51071193e-01 2.16589906e+02] [-3.13669378e-01 9.48140555e-01 -5.13907435e-02 -6.54093996e+01] [-1.59571301e-01 7.16770444e-04 9.87186146e-01 -3.72062854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.62, Y:-65.42, Z:-37.21 [[ 9.35699476e-01 3.18556295e-01 1.51619188e-01 2.16616247e+02] [-3.14355674e-01 9.47903762e-01 -5.15651842e-02 -6.54176713e+01] [-1.60146813e-01 5.87163809e-04 9.87093032e-01 -3.72110439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.64, Y:-65.43, Z:-37.22 [[ 9.35547481e-01 3.18962191e-01 1.51703762e-01 2.16641522e+02] [-3.14764065e-01 9.47767305e-01 -5.15821655e-02 -6.54258557e+01] [-1.60232626e-01 5.06672215e-04 9.87079150e-01 -3.72157590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.67, Y:-65.43, Z:-37.22 [[ 9.35370331e-01 3.19411263e-01 1.51851207e-01 2.16667577e+02] [-3.15213064e-01 9.47616099e-01 -5.16183424e-02 -6.54341077e+01] [-1.60384128e-01 4.16781931e-04 9.87054587e-01 -3.72204173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.69, Y:-65.44, Z:-37.22 [[ 9.35255640e-01 3.19681527e-01 1.51988846e-01 2.16693720e+02] [-3.15481185e-01 9.47524982e-01 -5.16529700e-02 -6.54414663e+01] [-1.60525729e-01 3.59110135e-04 9.87031591e-01 -3.72243054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:-65.45, Z:-37.23 [[ 9.35117089e-01 3.19969786e-01 1.52234577e-01 2.16719753e+02] [-3.15761884e-01 9.47427701e-01 -5.17221885e-02 -6.54478515e+01] [-1.60780793e-01 2.96425657e-04 9.86990096e-01 -3.72291544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.75, Y:-65.46, Z:-37.23 [[ 9.35374580e-01 3.19257791e-01 1.52147487e-01 2.16745842e+02] [-3.15047696e-01 9.47667821e-01 -5.16783325e-02 -6.54562226e+01] [-1.60683987e-01 4.04883378e-04 9.87005822e-01 -3.72338857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.77, Y:-65.47, Z:-37.24 [[ 9.36305622e-01 3.16337260e-01 1.52520554e-01 2.16772196e+02] [-3.12069800e-01 9.48646369e-01 -5.17929208e-02 -6.54650906e+01] [-1.61072101e-01 8.96944042e-04 9.86942234e-01 -3.72394227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.80, Y:-65.47, Z:-37.24 [[ 9.37058330e-01 3.14061976e-01 1.52600006e-01 2.16797796e+02] [-3.09761991e-01 9.49401624e-01 -5.18079632e-02 -6.54735232e+01] [-1.61149604e-01 1.27740187e-03 9.86929163e-01 -3.72440975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.82, Y:-65.48, Z:-37.25 [[ 9.38766061e-01 3.09007338e-01 1.52422923e-01 2.16822268e+02] [-3.04653372e-01 9.51057269e-01 -5.17338794e-02 -6.54831027e+01] [-1.60949077e-01 2.12985274e-03 9.86960414e-01 -3.72491208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.85, Y:-65.49, Z:-37.25 [[ 9.39651591e-01 3.06494510e-01 1.52039480e-01 2.16848257e+02] [-3.02132131e-01 9.51869036e-01 -5.15898612e-02 -6.54930462e+01] [-1.60533683e-01 2.54048298e-03 9.87027093e-01 -3.72543565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.87, Y:-65.50, Z:-37.26 [[ 9.40502510e-01 3.04097884e-01 1.51589929e-01 2.16872823e+02] [-2.99732390e-01 9.52636287e-01 -5.14256743e-02 -6.55027101e+01] [-1.60048505e-01 2.92956411e-03 9.87104804e-01 -3.72595533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.90, Y:-65.51, Z:-37.26 [[ 9.41229724e-01 3.02015836e-01 1.51238363e-01 2.16898377e+02] [-2.97646203e-01 9.53297325e-01 -5.12927707e-02 -6.55125862e+01] [-1.59666355e-01 3.26275596e-03 9.87165644e-01 -3.72636303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:-65.52, Z:-37.27 [[ 9.42104596e-01 2.99361492e-01 1.51068287e-01 2.16923517e+02] [-2.94969695e-01 9.54132604e-01 -5.12235568e-02 -6.55237245e+01] [-1.59473539e-01 3.69738165e-03 9.87195279e-01 -3.72695046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.95, Y:-65.53, Z:-37.27 [[ 9.42363562e-01 2.98577919e-01 1.51003787e-01 2.16948101e+02] [-2.94181675e-01 9.54377625e-01 -5.11907330e-02 -6.55332266e+01] [-1.59399059e-01 3.81773447e-03 9.87206850e-01 -3.72742475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.97, Y:-65.54, Z:-37.28 [[ 9.42513101e-01 2.98120168e-01 1.50974897e-01 2.16972809e+02] [-2.93723010e-01 9.54520481e-01 -5.11609613e-02 -6.55427593e+01] [-1.59360746e-01 3.87507511e-03 9.87212812e-01 -3.72790819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93587156000004 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:217.00, Y:-65.55, Z:-37.28 [[ 9.42434630e-01 2.98281769e-01 1.51145472e-01 2.16997795e+02] [-2.93879958e-01 9.54470166e-01 -5.11983575e-02 -6.55545415e+01] [-1.59535381e-01 3.83248004e-03 9.87184772e-01 -3.72818461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.02, Y:-65.57, Z:-37.29 [[ 9.42353349e-01 2.98391044e-01 1.51436289e-01 2.17023188e+02] [-2.93975398e-01 9.54436098e-01 -5.12854821e-02 -6.55654919e+01] [-1.59839390e-01 3.81050236e-03 9.87135679e-01 -3.72885883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.05, Y:-65.58, Z:-37.29 [[ 9.42191713e-01 2.99137149e-01 1.50969343e-01 2.17047523e+02] [-2.94760199e-01 9.54203102e-01 -5.11161973e-02 -6.55764214e+01] [-1.59346169e-01 3.66150405e-03 9.87215980e-01 -3.72929637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.07, Y:-65.59, Z:-37.30 [[ 9.42008724e-01 2.99776710e-01 1.50842595e-01 2.17073787e+02] [-2.95417468e-01 9.54002837e-01 -5.10598412e-02 -6.55866496e+01] [-1.59210815e-01 3.53727819e-03 9.87238271e-01 -3.72973370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:-65.60, Z:-37.30 [[ 9.41714146e-01 3.00576738e-01 1.51089683e-01 2.17098956e+02] [-2.96214627e-01 9.53751574e-01 -5.11354045e-02 -6.55969480e+01] [-1.59472136e-01 3.39995967e-03 9.87196575e-01 -3.73021846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.12, Y:-65.61, Z:-37.31 [[ 9.41147326e-01 3.02417765e-01 1.50947693e-01 2.17124862e+02] [-2.98045515e-01 9.53169643e-01 -5.13468873e-02 -6.56102073e+01] [-1.59406969e-01 3.33570287e-03 9.87207319e-01 -3.73066890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:-65.62, Z:-37.31 [[ 9.40560574e-01 3.04238430e-01 1.50946294e-01 2.17150390e+02] [-2.99936246e-01 9.52591952e-01 -5.10570457e-02 -6.56210059e+01] [-1.59323740e-01 2.74797951e-03 9.87222566e-01 -3.73116552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:-65.63, Z:-37.32 [[ 9.39963781e-01 3.06165731e-01 1.50766823e-01 2.17175896e+02] [-3.01899714e-01 9.51975174e-01 -5.09885271e-02 -6.56313542e+01] [-1.59137212e-01 2.41090815e-03 9.87253531e-01 -3.73159734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17587156000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:217.20, Y:-65.64, Z:-37.32 [[ 9.38542697e-01 3.10623856e-01 1.50500581e-01 2.17201948e+02] [-3.06431771e-01 9.50531497e-01 -5.08865711e-02 -6.56422008e+01] [-1.58862126e-01 1.64106010e-03 9.87299414e-01 -3.73195313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.23, Y:-65.65, Z:-37.33 [[ 9.37732582e-01 3.12924397e-01 1.50784370e-01 2.17227472e+02] [-3.08747840e-01 9.49777226e-01 -5.09705120e-02 -6.56516597e+01] [-1.59161478e-01 1.24236127e-03 9.87251782e-01 -3.73258526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.25, Y:-65.66, Z:-37.33 [[ 9.36089418e-01 3.17686182e-01 1.51036722e-01 2.17253883e+02] [-3.13558972e-01 9.48195819e-01 -5.10437051e-02 -6.56606298e+01] [-1.59428268e-01 4.22553006e-04 9.87209425e-01 -3.73312006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.28, Y:-65.67, Z:-37.34 [[ 9.35491194e-01 3.19566438e-01 1.50776382e-01 2.17279227e+02] [-3.15479704e-01 9.47563868e-01 -5.09438197e-02 -6.56691875e+01] [-1.59150187e-01 9.06063312e-05 9.87254379e-01 -3.73358526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.30, Y:-65.68, Z:-37.34 [[ 9.34946699e-01 3.21295816e-01 1.50478136e-01 2.17304993e+02] [-3.17249855e-01 9.46978855e-01 -5.08289039e-02 -6.56777903e+01] [-1.58830727e-01 -2.16851142e-04 9.87305805e-01 -3.73405055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.33, Y:-65.69, Z:-37.35 [[ 9.34128465e-01 3.23922815e-01 1.49926716e-01 2.17330379e+02] [-3.19942137e-01 9.46083272e-01 -5.06307321e-02 -6.56857909e+01] [-1.58243608e-01 -6.72266024e-04 9.87399873e-01 -3.73459080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:217.36, Y:-65.70, Z:-37.35 [[ 9.33945626e-01 3.24682991e-01 1.49420625e-01 2.17356529e+02] [-3.20741225e-01 9.45822550e-01 -5.04457148e-02 -6.56950209e+01] [-1.57704262e-01 -8.11799522e-04 9.87486054e-01 -3.73494207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.38, Y:-65.70, Z:-37.36 [[ 9.33993175e-01 3.24661127e-01 1.49170713e-01 2.17380898e+02] [-3.20734153e-01 9.45830050e-01 -5.03499652e-02 -6.57040503e+01] [-1.57436819e-01 -8.17618325e-04 9.87528723e-01 -3.73554133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41587156000003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:217.41, Y:-65.71, Z:-37.36 [[ 9.34265842e-01 3.24001063e-01 1.48898109e-01 2.17406883e+02] [-3.20083644e-01 9.46056438e-01 -5.02362092e-02 -6.57127209e+01] [-1.57142599e-01 -7.25874878e-04 9.87575656e-01 -3.73586573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:-65.72, Z:-37.37 [[ 9.34617617e-01 3.22753065e-01 1.49400029e-01 2.17431107e+02] [-3.18795098e-01 9.46483058e-01 -5.03935200e-02 -6.57223414e+01] [-1.57669259e-01 -5.29325135e-04 9.87491835e-01 -3.73650198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.46, Y:-65.73, Z:-37.37 [[ 9.35016082e-01 3.21335456e-01 1.49961497e-01 2.17457265e+02] [-3.17331681e-01 9.46965380e-01 -5.05684928e-02 -6.57318692e+01] [-1.58257796e-01 -3.05179895e-04 9.87397781e-01 -3.73687175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.48, Y:-65.74, Z:-37.37 [[ 9.35772617e-01 3.18819574e-01 1.50611054e-01 2.17482749e+02] [-3.14750293e-01 9.47815418e-01 -5.07758368e-02 -6.57419253e+01] [-1.58939810e-01 1.09764118e-04 9.87288268e-01 -3.73738553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.51, Y:-65.75, Z:-37.38 [[ 9.36057479e-01 3.17719732e-01 1.51164044e-01 2.17508740e+02] [-3.13607993e-01 9.48184629e-01 -5.09503389e-02 -6.57513506e+01] [-1.59519351e-01 2.86193516e-04 9.87194760e-01 -3.73783840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:217.53, Y:-65.76, Z:-37.38 [[ 9.36523395e-01 3.15801148e-01 1.52294339e-01 2.17533281e+02] [-3.11604026e-01 9.48825204e-01 -5.13192319e-02 -6.57615298e+01] [-1.60707380e-01 6.06131993e-04 9.87001910e-01 -3.73810053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:217.56, Y:-65.77, Z:-37.39 [[ 9.36756666e-01 3.15131460e-01 1.52246874e-01 2.17559583e+02] [-3.10930490e-01 9.49047766e-01 -5.12890598e-02 -6.57715211e+01] [-1.60652352e-01 7.07173576e-04 9.87010801e-01 -3.73855722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.59, Y:-65.78, Z:-37.39 [[ 9.37001525e-01 3.14358773e-01 1.52337470e-01 2.17586191e+02] [-3.10144667e-01 9.49303890e-01 -5.13070061e-02 -6.57815693e+01] [-1.60743360e-01 8.28088971e-04 9.86995890e-01 -3.73922882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:217.61, Y:-65.79, Z:-37.40 [[ 9.36989119e-01 3.14435438e-01 1.52255528e-01 2.17611968e+02] [-3.10228241e-01 9.49278518e-01 -5.12711780e-02 -6.57904834e+01] [-1.60654377e-01 8.06571403e-04 9.87010395e-01 -3.73954385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:-65.80, Z:-37.40 [[ 9.36926743e-01 3.14516531e-01 1.52471734e-01 2.17637617e+02] [-3.10300140e-01 9.49251673e-01 -5.13330782e-02 -6.57998741e+01] [-1.60879150e-01 7.83333354e-04 9.86973802e-01 -3.74013998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:217.66, Y:-65.81, Z:-37.40 [[ 9.36827696e-01 3.15052380e-01 1.51973238e-01 2.17663724e+02] [-3.10872708e-01 9.49074043e-01 -5.11529107e-02 -6.58098828e+01] [-1.60349702e-01 6.77131432e-04 9.87060036e-01 -3.74045060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:-65.82, Z:-37.41 [[ 9.36739579e-01 3.15129670e-01 1.52355678e-01 2.17688062e+02] [-3.10931388e-01 9.49048397e-01 -5.12719407e-02 -6.58187315e+01] [-1.60750222e-01 6.56293760e-04 9.86994901e-01 -3.74108080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.71, Y:-65.83, Z:-37.42 [[ 9.36836933e-01 3.15350313e-01 1.51296864e-01 2.17713789e+02] [-3.11216475e-01 9.48975144e-01 -5.08967662e-02 -6.58289448e+01] [-1.59627274e-01 5.95893776e-04 9.87177177e-01 -3.74159384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:-65.84, Z:-37.42 [[ 9.36932582e-01 3.15155618e-01 1.51110139e-01 2.17739626e+02] [-3.11031418e-01 9.49039807e-01 -5.08222519e-02 -6.58380043e+01] [-1.59426455e-01 6.17022982e-04 9.87209615e-01 -3.74206874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.77, Y:-65.85, Z:-37.43 [[ 9.36916870e-01 3.15240223e-01 1.51031057e-01 2.17766044e+02] [-3.11123344e-01 9.49011724e-01 -5.07839750e-02 -6.58464153e+01] [-1.59339396e-01 5.91075341e-04 9.87223687e-01 -3.74251888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:-65.85, Z:-37.43 [[ 9.37068960e-01 3.15038353e-01 1.50507805e-01 2.17791534e+02] [-3.10949387e-01 9.49078743e-01 -5.05966146e-02 -6.58545566e+01] [-1.58783632e-01 6.12207418e-04 9.87313214e-01 -3.74302674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:-65.86, Z:-37.44 [[ 9.37200148e-01 3.14701238e-01 1.50396189e-01 2.17817277e+02] [-3.10616238e-01 9.49190550e-01 -5.05455439e-02 -6.58641663e+01] [-1.58661387e-01 6.55792596e-04 9.87332839e-01 -3.74353541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:-65.87, Z:-37.44 [[ 9.37327790e-01 3.14173214e-01 1.50704364e-01 2.17843079e+02] [-3.10066480e-01 9.49365394e-01 -5.06372155e-02 -6.58736983e+01] [-1.58982364e-01 7.35297856e-04 9.87281149e-01 -3.74396880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.87, Y:-65.88, Z:-37.44 [[ 9.37381354e-01 3.13466030e-01 1.51839537e-01 2.17868981e+02] [-3.09289519e-01 9.49599034e-01 -5.10065472e-02 -6.58817517e+01] [-1.60175498e-01 8.50208733e-04 9.87088186e-01 -3.74433812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.90, Y:-65.89, Z:-37.45 [[ 9.37558177e-01 3.12753428e-01 1.52216816e-01 2.17895187e+02] [-3.08548980e-01 9.49833865e-01 -5.11190429e-02 -6.58903015e+01] [-1.60568343e-01 9.60733273e-04 9.87024257e-01 -3.74475849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.92, Y:-65.90, Z:-37.45 [[ 9.37832727e-01 3.11678640e-01 1.52729174e-01 2.17920540e+02] [-3.07433508e-01 9.50186894e-01 -5.12786976e-02 -6.58996244e+01] [-1.61103734e-01 1.13677501e-03 9.86936824e-01 -3.74523448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:-65.91, Z:-37.46 [[ 9.38427450e-01 3.09345710e-01 1.53815321e-01 2.17945703e+02] [-3.05010105e-01 9.50948403e-01 -5.16330490e-02 -6.59110912e+01] [-1.62242896e-01 1.53864333e-03 9.86749652e-01 -3.74573883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:-65.92, Z:-37.46 [[ 9.38829911e-01 3.08044103e-01 1.53971519e-01 2.17972379e+02] [-3.03683915e-01 9.51370458e-01 -5.16752480e-02 -6.59211082e+01] [-1.62402210e-01 1.75559473e-03 9.86723082e-01 -3.74619054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:-65.93, Z:-37.47 [[ 9.39179095e-01 3.07101781e-01 1.53724184e-01 2.17998612e+02] [-3.02744479e-01 9.51674765e-01 -5.15841334e-02 -6.59310515e+01] [-1.62137006e-01 1.90759169e-03 9.86766412e-01 -3.74669030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.02, Y:-65.94, Z:-37.47 [[ 9.39802999e-01 3.05656075e-01 1.52789680e-01 2.18023754e+02] [-3.01334262e-01 9.52139591e-01 -5.12626693e-02 -6.59418857e+01] [-1.61145849e-01 2.13604502e-03 9.86928291e-01 -3.74716559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.05, Y:-65.95, Z:-37.48 [[ 9.40067476e-01 3.05087347e-01 1.52298562e-01 2.18049923e+02] [-3.00787679e-01 9.52321793e-01 -5.10879113e-02 -6.59509644e+01] [-1.60623515e-01 2.21655284e-03 9.87013259e-01 -3.74766985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.08, Y:-65.96, Z:-37.48 [[ 9.40269812e-01 3.04771751e-01 1.51680124e-01 2.18076516e+02] [-3.00504702e-01 9.52422758e-01 -5.08705589e-02 -6.59605857e+01] [-1.59967512e-01 2.25146028e-03 9.87119712e-01 -3.74813731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:218.10, Y:-65.97, Z:-37.49 [[ 9.40418941e-01 3.04502925e-01 1.51295021e-01 2.18102304e+02] [-3.00255461e-01 9.52508663e-01 -5.07336681e-02 -6.59729441e+01] [-1.59558369e-01 2.28374611e-03 9.87185855e-01 -3.74850947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:218.13, Y:-65.98, Z:-37.49 [[ 9.40436291e-01 3.04448197e-01 1.51297317e-01 2.18128963e+02] [-3.00201131e-01 9.52526152e-01 -5.07268204e-02 -6.59817509e+01] [-1.59558340e-01 2.28571700e-03 9.87185855e-01 -3.74899372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:-65.99, Z:-37.50 [[ 9.40486371e-01 3.04203497e-01 1.51478112e-01 2.18154925e+02] [-2.99944647e-01 9.52604245e-01 -5.07775678e-02 -6.59927035e+01] [-1.59745407e-01 2.32056145e-03 9.87155520e-01 -3.74962156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.18, Y:-66.00, Z:-37.50 [[ 9.40454828e-01 3.04324944e-01 1.51430002e-01 2.18180824e+02] [-3.00071634e-01 9.52565524e-01 -5.07536959e-02 -6.60032222e+01] [-1.59692615e-01 2.29171024e-03 9.87164129e-01 -3.74997025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.21, Y:-66.02, Z:-37.50 [[ 9.40370007e-01 3.04575664e-01 1.51452682e-01 2.18206601e+02] [-3.00325906e-01 9.52485511e-01 -5.07513770e-02 -6.60151225e+01] [-1.59714119e-01 2.23990884e-03 9.87160769e-01 -3.75048517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.24, Y:-66.03, Z:-37.51 [[ 9.40210954e-01 3.04899446e-01 1.51788304e-01 2.18235568e+02] [-3.00636269e-01 9.52382050e-01 -5.08553410e-02 -6.60260586e+01] [-1.60066221e-01 2.18167931e-03 9.87103867e-01 -3.75087327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.26, Y:-66.04, Z:-37.51 [[ 9.39738517e-01 3.05535600e-01 1.53425931e-01 2.18262428e+02] [-3.01186986e-01 9.52178337e-01 -5.14083073e-02 -6.60392432e+01] [-1.61795915e-01 2.10047280e-03 9.86822005e-01 -3.75145878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:-66.05, Z:-37.52 [[ 9.39476487e-01 3.06052652e-01 1.53999038e-01 2.18289665e+02] [-3.01677780e-01 9.52012441e-01 -5.16026054e-02 -6.60504598e+01] [-1.62402115e-01 2.02134647e-03 9.86722589e-01 -3.75191523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.32, Y:-66.06, Z:-37.52 [[ 9.39238000e-01 3.06689277e-01 1.54187119e-01 2.18315948e+02] [-3.02312463e-01 9.51807771e-01 -5.16637433e-02 -6.60609749e+01] [-1.62601214e-01 1.91186322e-03 9.86690017e-01 -3.75238234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.34, Y:-66.07, Z:-37.53 [[ 9.38854600e-01 3.07747969e-01 1.54412521e-01 2.18344990e+02] [-3.03373553e-01 9.51466348e-01 -5.17327273e-02 -6.60727128e+01] [-1.62838959e-01 1.72483389e-03 9.86651153e-01 -3.75291879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.37, Y:-66.09, Z:-37.53 [[ 9.38248172e-01 3.09887161e-01 1.53819098e-01 2.18371621e+02] [-3.05574371e-01 9.50772380e-01 -5.15381974e-02 -6.60851154e+01] [-1.62217976e-01 1.35244536e-03 9.86754022e-01 -3.75340000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.40, Y:-66.10, Z:-37.54 [[ 9.37842107e-01 3.11307256e-01 1.53427428e-01 2.18399171e+02] [-3.07035388e-01 9.50308673e-01 -5.14071700e-02 -6.60962401e+01] [-1.61806841e-01 1.10415856e-03 9.86821831e-01 -3.75394095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:-66.11, Z:-37.54 [[ 9.37068238e-01 3.14059645e-01 1.52543949e-01 2.18425186e+02] [-3.09874001e-01 9.49403051e-01 -5.11072450e-02 -6.61081951e+01] [-1.60876414e-01 6.21572266e-04 9.86974363e-01 -3.75444592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:-66.12, Z:-37.55 [[ 9.36607034e-01 3.15567874e-01 1.52263522e-01 2.18450430e+02] [-3.11418431e-01 9.48902940e-01 -5.10075594e-02 -6.61187239e+01] [-1.60579650e-01 3.56371842e-04 9.87022821e-01 -3.75490147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.48, Y:-66.13, Z:-37.55 [[ 9.36071706e-01 3.17061487e-01 1.52452530e-01 2.18477224e+02] [-3.12923136e-01 9.48404980e-01 -5.10598248e-02 -6.61293462e+01] [-1.60775843e-01 8.97335997e-05 9.86990942e-01 -3.75536456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.50, Y:-66.14, Z:-37.56 [[ 9.34729729e-01 3.20822442e-01 1.52817847e-01 2.18502152e+02] [-3.16715255e-01 9.47139188e-01 -5.11742782e-02 -6.61405556e+01] [-1.61157629e-01 -5.65624262e-04 9.86928518e-01 -3.75579239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.53, Y:-66.15, Z:-37.56 [[ 9.34069273e-01 3.22770875e-01 1.52753253e-01 2.18526788e+02] [-3.18694642e-01 9.46476695e-01 -5.11428574e-02 -6.61499209e+01] [-1.61084818e-01 -9.10671544e-04 9.86940146e-01 -3.75622368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:218.55, Y:-66.16, Z:-37.57 [[ 9.32667336e-01 3.26715698e-01 1.52932969e-01 2.18553252e+02] [-3.22684596e-01 9.45121300e-01 -5.11896381e-02 -6.61610315e+01] [-1.61264664e-01 -1.60620976e-03 9.86909889e-01 -3.75653212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.58, Y:-66.17, Z:-37.57 [[ 9.31984977e-01 3.28508833e-01 1.53251262e-01 2.18578186e+02] [-3.24486147e-01 9.44498931e-01 -5.12885008e-02 -6.61705208e+01] [-1.61594379e-01 -1.92779921e-03 9.86855380e-01 -3.75711521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.60, Y:-66.18, Z:-37.58 [[ 9.31332081e-01 3.30313263e-01 1.53341787e-01 2.18603784e+02] [-3.26312356e-01 9.43868667e-01 -5.13048257e-02 -6.61803342e+01] [-1.61681173e-01 -2.25548989e-03 9.86840469e-01 -3.75758104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.63, Y:-66.19, Z:-37.58 [[ 9.30311791e-01 3.33261582e-01 1.53155770e-01 2.18628919e+02] [-3.29311989e-01 9.42830322e-01 -5.12308363e-02 -6.61905168e+01] [-1.61473173e-01 -2.77538003e-03 9.86873199e-01 -3.75804790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.66, Y:-66.20, Z:-37.59 [[ 9.29805555e-01 3.34643921e-01 1.53215782e-01 2.18655711e+02] [-3.30712138e-01 9.42339782e-01 -5.12368679e-02 -6.61995148e+01] [-1.61527433e-01 -3.02999448e-03 9.86863571e-01 -3.75855439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.68, Y:-66.21, Z:-37.59 [[ 9.28831729e-01 3.37661311e-01 1.52500680e-01 2.18681816e+02] [-3.33808032e-01 9.41261000e-01 -5.09894880e-02 -6.62082142e+01] [-1.60760120e-01 -3.54529743e-03 9.86987140e-01 -3.75903778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.71, Y:-66.22, Z:-37.60 [[ 9.28545220e-01 3.38615768e-01 1.52128686e-01 2.18707611e+02] [-3.34795760e-01 9.40917419e-01 -5.08547863e-02 -6.62164454e+01] [-1.60360763e-01 -3.71107038e-03 9.87051495e-01 -3.75955380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:-66.23, Z:-37.60 [[ 9.28230126e-01 3.39633470e-01 1.51782539e-01 2.18733101e+02] [-3.35846272e-01 9.40549831e-01 -5.07276790e-02 -6.62250922e+01] [-1.59987859e-01 -3.88863993e-03 9.87111323e-01 -3.76001432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:-66.23, Z:-37.60 [[ 9.27768543e-01 3.41108424e-01 1.51296309e-01 2.18759084e+02] [-3.37367218e-01 9.40014833e-01 -5.05517007e-02 -6.62331189e+01] [-1.59464386e-01 -4.14213721e-03 9.87194992e-01 -3.76048339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:-66.24, Z:-37.61 [[ 9.27578852e-01 3.41558120e-01 1.51444788e-01 2.18785091e+02] [-3.37817299e-01 9.39851116e-01 -5.05900427e-02 -6.62409833e+01] [-1.59614993e-01 -4.23441555e-03 9.87170261e-01 -3.76089160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:-66.25, Z:-37.61 [[ 9.27263278e-01 3.42075207e-01 1.52208297e-01 2.18810997e+02] [-3.38305455e-01 9.39662469e-01 -5.08317176e-02 -6.62483690e+01] [-1.60412695e-01 -4.35851200e-03 9.87040410e-01 -3.76133209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:-66.25, Z:-37.62 [[ 9.26876460e-01 3.42857657e-01 1.52802665e-01 2.18837860e+02] [-3.39070973e-01 9.39376471e-01 -5.10168675e-02 -6.62549505e+01] [-1.61030752e-01 -4.52461472e-03 9.86939018e-01 -3.76171936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.86, Y:-66.26, Z:-37.62 [[ 9.26919551e-01 3.42761025e-01 1.52758059e-01 2.18864558e+02] [-3.38977239e-01 9.39411767e-01 -5.09898478e-02 -6.62620315e+01] [-1.60980051e-01 -4.51801835e-03 9.86947319e-01 -3.76224687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.89, Y:-66.27, Z:-37.63 [[ 9.27052773e-01 3.42783399e-01 1.51896996e-01 2.18890825e+02] [-3.39044632e-01 9.39403654e-01 -5.06903500e-02 -6.62671523e+01] [-1.60068404e-01 -4.50723173e-03 9.87095634e-01 -3.76271232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.92, Y:-66.27, Z:-37.63 [[ 9.27146747e-01 3.42663569e-01 1.51593498e-01 2.18917713e+02] [-3.38940535e-01 9.39447449e-01 -5.05747400e-02 -6.62740320e+01] [-1.59744246e-01 -4.49097578e-03 9.87148219e-01 -3.76324059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.94, Y:-66.28, Z:-37.64 [[ 9.27376411e-01 3.42103192e-01 1.51454275e-01 2.18943888e+02] [-3.38381537e-01 9.39652080e-01 -5.05163731e-02 -6.62786554e+01] [-1.59596137e-01 -4.40163761e-03 9.87172578e-01 -3.76361374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.97, Y:-66.29, Z:-37.64 [[ 9.27609836e-01 3.41277071e-01 1.51887960e-01 2.18971111e+02] [-3.37525271e-01 9.39952975e-01 -5.06467803e-02 -6.62853571e+01] [-1.60052125e-01 -4.28557336e-03 9.87099261e-01 -3.76406678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.00, Y:-66.29, Z:-37.65 [[ 9.27935656e-01 3.40306842e-01 1.52074558e-01 2.18997470e+02] [-3.36534778e-01 9.40305353e-01 -5.06970105e-02 -6.62923490e+01] [-1.60249060e-01 -4.13481376e-03 9.87067952e-01 -3.76450116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:219.02, Y:-66.30, Z:-37.65 [[ 9.28768344e-01 3.37863337e-01 1.52439265e-01 2.19024335e+02] [-3.34042362e-01 9.41187773e-01 -5.08062698e-02 -6.62962978e+01] [-1.60639548e-01 -3.73391724e-03 9.87006076e-01 -3.76480129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.05, Y:-66.30, Z:-37.65 [[ 9.29404668e-01 3.35947074e-01 1.52795703e-01 2.19050007e+02] [-3.32084738e-01 9.41874639e-01 -5.09106175e-02 -6.63020208e+01] [-1.61017671e-01 -3.42455552e-03 9.86945582e-01 -3.76532644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.08, Y:-66.31, Z:-37.66 [[ 9.30973862e-01 3.31217788e-01 1.53565772e-01 2.19077100e+02] [-3.27254580e-01 9.43550657e-01 -5.11526855e-02 -6.63077425e+01] [-1.61839764e-01 -2.63328895e-03 9.86813537e-01 -3.76581773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.10, Y:-66.31, Z:-37.66 [[ 9.31787099e-01 3.28738575e-01 1.53960227e-01 2.19102171e+02] [-3.24723154e-01 9.44418352e-01 -5.12723160e-02 -6.63149170e+01] [-1.62258052e-01 -2.21956800e-03 9.86745863e-01 -3.76629820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:-66.32, Z:-37.67 [[ 9.32582021e-01 3.26511218e-01 1.53886967e-01 2.19128599e+02] [-3.22472899e-01 9.45191514e-01 -5.12272440e-02 -6.63222481e+01] [-1.62178925e-01 -1.85076957e-03 9.86759632e-01 -3.76673115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.16, Y:-66.33, Z:-37.67 [[ 9.33836553e-01 3.23364633e-01 1.52920265e-01 2.19155729e+02] [-3.19340062e-01 9.46273513e-01 -5.08759525e-02 -6.63282651e+01] [-1.61155880e-01 -1.32374276e-03 9.86928077e-01 -3.76721744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:-66.34, Z:-37.68 [[ 9.34319584e-01 3.22325193e-01 1.52162362e-01 2.19182505e+02] [-3.18328994e-01 9.46628304e-01 -5.06113202e-02 -6.63357298e+01] [-1.60354503e-01 -1.15054408e-03 9.87058818e-01 -3.76773972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.21, Y:-66.34, Z:-37.68 [[ 9.34600775e-01 3.21890167e-01 1.51354261e-01 2.19209493e+02] [-3.17932519e-01 9.46776402e-01 -5.03324833e-02 -6.63431072e+01] [-1.59500174e-01 -1.07966358e-03 9.87197310e-01 -3.76816969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.24, Y:-66.35, Z:-37.69 [[ 9.34933448e-01 3.21373315e-01 1.50394950e-01 2.19236400e+02] [-3.17461258e-01 9.46952058e-01 -5.00015036e-02 -6.63476006e+01] [-1.58485957e-01 -9.96491993e-04 9.87360729e-01 -3.76864342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:219.26, Y:-66.35, Z:-37.69 [[ 9.35051036e-01 3.21126453e-01 1.50191082e-01 2.19262028e+02] [-3.17224163e-01 9.47035832e-01 -4.99195742e-02 -6.63541216e+01] [-1.58266832e-01 -9.66890726e-04 9.87395906e-01 -3.76900224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:-66.36, Z:-37.70 [[ 9.35705868e-01 3.19429862e-01 1.49730066e-01 2.19288907e+02] [-3.15532251e-01 9.47609670e-01 -4.97525141e-02 -6.63600542e+01] [-1.57778097e-01 -6.90945335e-04 9.87474351e-01 -3.76954570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:-66.37, Z:-37.70 [[ 9.36163285e-01 3.18056567e-01 1.49794275e-01 2.19314397e+02] [-3.14140018e-01 9.48071621e-01 -4.97619398e-02 -6.63670317e+01] [-1.57842813e-01 -4.71075371e-04 9.87464138e-01 -3.76997002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.34, Y:-66.37, Z:-37.70 [[ 9.36786928e-01 3.16158764e-01 1.49912933e-01 2.19340754e+02] [-3.12214072e-01 9.48706282e-01 -4.97871921e-02 -6.63744674e+01] [-1.57963998e-01 -1.64936436e-04 9.87444858e-01 -3.77042800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:-66.38, Z:-37.71 [[ 9.38070344e-01 3.11987342e-01 1.50625123e-01 2.19367683e+02] [-3.07953149e-01 9.50086111e-01 -5.00124015e-02 -6.63822545e+01] [-1.58710074e-01 5.29669592e-04 9.87325089e-01 -3.77081066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.39, Y:-66.39, Z:-37.71 [[ 9.38706000e-01 3.10010596e-01 1.50746396e-01 2.19393082e+02] [-3.05946309e-01 9.50732718e-01 -5.00415352e-02 -6.63901606e+01] [-1.58832937e-01 8.53985895e-04 9.87305104e-01 -3.77121661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:-66.40, Z:-37.72 [[ 9.39627080e-01 3.07083509e-01 1.50998902e-01 2.19419736e+02] [-3.02970033e-01 9.51681631e-01 -5.01121968e-02 -6.63967778e+01] [-1.59091511e-01 1.33863468e-03 9.87262933e-01 -3.77167049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.44, Y:-66.40, Z:-37.72 [[ 9.39913955e-01 3.06025254e-01 1.51361494e-01 2.19444969e+02] [-3.01879941e-01 9.52022195e-01 -5.02219224e-02 -6.64043009e+01] [-1.59468679e-01 1.51128680e-03 9.87201832e-01 -3.77213534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.47, Y:-66.41, Z:-37.73 [[ 9.40143111e-01 3.05290101e-01 1.51422871e-01 2.19472580e+02] [-3.01135147e-01 9.52258021e-01 -5.02223592e-02 -6.64129552e+01] [-1.59526032e-01 1.61745663e-03 9.87192397e-01 -3.77258441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:219.50, Y:-66.42, Z:-37.73 [[ 9.40484770e-01 3.04309672e-01 1.51274655e-01 2.19498585e+02] [-3.00151561e-01 9.52571507e-01 -5.01653802e-02 -6.64216815e+01] [-1.59365737e-01 1.77445213e-03 9.87218017e-01 -3.77293060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.53, Y:-66.43, Z:-37.74 [[ 9.40857824e-01 3.03495143e-01 1.50589684e-01 2.19525293e+02] [-2.99366153e-01 9.52831104e-01 -4.99278900e-02 -6.64302810e+01] [-1.58639407e-01 1.89359159e-03 9.87334772e-01 -3.77353618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.55, Y:-66.44, Z:-37.74 [[ 9.41070212e-01 3.02954703e-01 1.50350604e-01 2.19551087e+02] [-2.98833307e-01 9.53002913e-01 -4.98407762e-02 -6.64398379e+01] [-1.58384061e-01 1.97390148e-03 9.87375609e-01 -3.77389007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:-66.45, Z:-37.74 [[ 9.41144152e-01 3.02557367e-01 1.50687510e-01 2.19576668e+02] [-2.98413903e-01 9.53129003e-01 -4.99424396e-02 -6.64487194e+01] [-1.58735089e-01 2.03578703e-03 9.87319111e-01 -3.77440901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:219.60, Y:-66.46, Z:-37.75 [[ 9.41098531e-01 3.02649211e-01 1.50787962e-01 2.19603562e+02] [-2.98502957e-01 9.53099893e-01 -4.99657722e-02 -6.64583518e+01] [-1.58838092e-01 2.01206235e-03 9.87302594e-01 -3.77471531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.63, Y:-66.47, Z:-37.75 [[ 9.40554066e-01 3.04097692e-01 1.51270097e-01 2.19630132e+02] [-2.99944603e-01 9.52639217e-01 -5.01174453e-02 -6.64679993e+01] [-1.59346426e-01 1.76551786e-03 9.87221150e-01 -3.77525907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:219.66, Y:-66.48, Z:-37.76 [[ 9.40084085e-01 3.05574842e-01 1.51214845e-01 2.19656627e+02] [-3.01445113e-01 9.52166869e-01 -5.00908979e-02 -6.64775720e+01] [-1.59288284e-01 1.50667968e-03 9.87230962e-01 -3.77562474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:219.68, Y:-66.49, Z:-37.76 [[ 9.39168490e-01 3.08499955e-01 1.50964651e-01 2.19682507e+02] [-3.04422780e-01 9.51223830e-01 -4.99999586e-02 -6.64872014e+01] [-1.59026159e-01 1.00130688e-03 9.87273862e-01 -3.77609147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.71, Y:-66.50, Z:-37.77 [[ 9.38644223e-01 3.10159701e-01 1.50824341e-01 2.19708710e+02] [-3.06113054e-01 9.50684204e-01 -4.99433924e-02 -6.64960440e+01] [-1.58876747e-01 7.09776997e-04 9.87298170e-01 -3.77669843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:-66.50, Z:-37.77 [[ 9.38054170e-01 3.12047979e-01 1.50600241e-01 2.19734840e+02] [-3.08039477e-01 9.50066269e-01 -4.98574465e-02 -6.65045968e+01] [-1.58638124e-01 3.78166228e-04 9.87336722e-01 -3.77716353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.76, Y:-66.51, Z:-37.78 [[ 9.36940915e-01 3.15902506e-01 1.49490226e-01 2.19760544e+02] [-3.12003480e-01 9.48791614e-01 -4.94803088e-02 -6.65132738e+01] [-1.57466027e-01 -2.81344954e-04 9.87524365e-01 -3.77765614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.79, Y:-66.52, Z:-37.78 [[ 9.36960237e-01 3.15843427e-01 1.49493957e-01 2.19787236e+02] [-3.11945452e-01 9.48811282e-01 -4.94690337e-02 -6.65219801e+01] [-1.57466022e-01 -2.83442559e-04 9.87524365e-01 -3.77814043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:219.81, Y:-66.53, Z:-37.79 [[ 9.36451015e-01 3.17400334e-01 1.49387164e-01 2.19813456e+02] [-3.13529270e-01 9.48291474e-01 -4.94234385e-02 -6.65302519e+01] [-1.57349590e-01 -5.54619523e-04 9.87542809e-01 -3.77861638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.84, Y:-66.54, Z:-37.79 [[ 9.35434228e-01 3.20389632e-01 1.49376331e-01 2.19839938e+02] [-3.16558596e-01 9.47285250e-01 -4.94096162e-02 -6.65387990e+01] [-1.57332324e-01 -1.06691538e-03 9.87545139e-01 -3.77907608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.87, Y:-66.55, Z:-37.79 [[ 9.35008464e-01 3.21963993e-01 1.48655169e-01 2.19866439e+02] [-3.18191342e-01 9.46750974e-01 -4.91616029e-02 -6.65474415e+01] [-1.56567692e-01 -1.33427277e-03 9.87666329e-01 -3.77945249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.89, Y:-66.56, Z:-37.80 [[ 9.34477522e-01 3.23334167e-01 1.49019388e-01 2.19891868e+02] [-3.19562139e-01 9.46283531e-01 -4.92698451e-02 -6.65552287e+01] [-1.56945217e-01 -1.57939173e-03 9.87606047e-01 -3.77996934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.92, Y:-66.56, Z:-37.80 [[ 9.33221818e-01 3.26597488e-01 1.49770221e-01 2.19917219e+02] [-3.22831156e-01 9.45161069e-01 -4.95035142e-02 -6.65620996e+01] [-1.57724706e-01 -2.15273410e-03 9.87480776e-01 -3.78038990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:219.94, Y:-66.57, Z:-37.81 [[ 9.32691644e-01 3.27986619e-01 1.50036910e-01 2.19944101e+02] [-3.24226923e-01 9.44679306e-01 -4.95773325e-02 -6.65702780e+01] [-1.57997465e-01 -2.40564176e-03 9.87436587e-01 -3.78083223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:219.97, Y:-66.58, Z:-37.81 [[ 9.31699501e-01 3.30340036e-01 1.51034768e-01 2.19969940e+02] [-3.26562519e-01 9.43857734e-01 -4.98948852e-02 -6.65767249e+01] [-1.59037612e-01 -2.83525469e-03 9.87268454e-01 -3.78127963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:220.00, Y:-66.58, Z:-37.82 [[ 9.31443817e-01 3.30939061e-01 1.51300210e-01 2.19996290e+02] [-3.27158355e-01 9.43647496e-01 -4.99681349e-02 -6.65840580e+01] [-1.59310472e-01 -2.95661769e-03 9.87224104e-01 -3.78169984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.02, Y:-66.59, Z:-37.82 [[ 9.31263538e-01 3.31226164e-01 1.51780930e-01 2.20022958e+02] [-3.27427004e-01 9.43546536e-01 -5.01147863e-02 -6.65912259e+01] [-1.59811699e-01 -3.02710212e-03 9.87142876e-01 -3.78218228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.05, Y:-66.60, Z:-37.83 [[ 9.31375349e-01 3.30844810e-01 1.51926531e-01 2.20049338e+02] [-3.27035258e-01 9.43680483e-01 -5.01506366e-02 -6.65986151e+01] [-1.59962180e-01 -2.97626578e-03 9.87118657e-01 -3.78261769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.08, Y:-66.61, Z:-37.83 [[ 9.31656691e-01 3.30262874e-01 1.51466975e-01 2.20075019e+02] [-3.26470771e-01 9.43884604e-01 -4.99868979e-02 -6.66054182e+01] [-1.59476163e-01 -2.87891222e-03 9.87197582e-01 -3.78296210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.10, Y:-66.61, Z:-37.84 [[ 9.32224292e-01 3.28920579e-01 1.50894405e-01 2.20100817e+02] [-3.25142059e-01 9.44353862e-01 -4.97837774e-02 -6.66118010e+01] [-1.58872623e-01 -2.65247094e-03 9.87295525e-01 -3.78354065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:220.13, Y:-66.62, Z:-37.84 [[ 9.32590632e-01 3.28333631e-01 1.49905773e-01 2.20127255e+02] [-3.24599240e-01 9.44558382e-01 -4.94448807e-02 -6.66202960e+01] [-1.57829171e-01 -2.54746724e-03 9.87463145e-01 -3.78379969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.15, Y:-66.63, Z:-37.84 [[ 9.32971855e-01 3.26970502e-01 1.50511821e-01 2.20153379e+02] [-3.23189986e-01 9.45031653e-01 -4.96327350e-02 -6.66275728e+01] [-1.58466876e-01 -2.33796861e-03 9.87361526e-01 -3.78441123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.18, Y:-66.64, Z:-37.85 [[ 9.33225911e-01 3.26245411e-01 1.50510237e-01 2.20178927e+02] [-3.22457496e-01 9.45282485e-01 -4.96204283e-02 -6.66350396e+01] [-1.58463128e-01 -2.22608469e-03 9.87362386e-01 -3.78488507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:220.20, Y:-66.64, Z:-37.85 [[ 9.33584211e-01 3.25517134e-01 1.49863659e-01 2.20204749e+02] [-3.21754760e-01 9.45533795e-01 -4.93934795e-02 -6.66422474e+01] [-1.57779578e-01 -2.10637293e-03 9.87472110e-01 -3.78513581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.23, Y:-66.65, Z:-37.86 [[ 9.33701583e-01 3.24664940e-01 1.50976920e-01 2.20232085e+02] [-3.20837310e-01 9.45827000e-01 -4.97464262e-02 -6.66482611e+01] [-1.58948967e-01 -1.99071182e-03 9.87284793e-01 -3.78573123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.26, Y:-66.66, Z:-37.86 [[ 9.33804375e-01 3.24234529e-01 1.51265854e-01 2.20258670e+02] [-3.20388490e-01 9.45974754e-01 -4.98295241e-02 -6.66558241e+01] [-1.59250131e-01 -1.93281075e-03 9.87236375e-01 -3.78622215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.28, Y:-66.66, Z:-37.87 [[ 9.33903093e-01 3.23770964e-01 1.51648855e-01 2.20283715e+02] [-3.19901100e-01 9.46133641e-01 -4.99441543e-02 -6.66634443e+01] [-1.59650550e-01 -1.86963521e-03 9.87171822e-01 -3.78664591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.31, Y:-66.67, Z:-37.87 [[ 9.34263678e-01 3.22707620e-01 1.51694339e-01 2.20310457e+02] [-3.18825148e-01 9.46497157e-01 -4.99365302e-02 -6.66716533e+01] [-1.59693160e-01 -1.71008393e-03 9.87165219e-01 -3.78708231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.34, Y:-66.68, Z:-37.88 [[ 9.34572441e-01 3.21910713e-01 1.51485461e-01 2.20336306e+02] [-3.18030565e-01 9.46768708e-01 -4.98555271e-02 -6.66790298e+01] [-1.59470722e-01 -1.58340511e-03 9.87201389e-01 -3.78751027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.36, Y:-66.69, Z:-37.88 [[ 9.35113966e-01 3.20428489e-01 1.51286005e-01 2.20362109e+02] [-3.16541653e-01 9.47271757e-01 -4.97755066e-02 -6.66862821e+01] [-1.59258450e-01 -1.34255050e-03 9.87236012e-01 -3.78796769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.39, Y:-66.70, Z:-37.88 [[ 9.35422660e-01 3.19577486e-01 1.51177639e-01 2.20388410e+02] [-3.15687514e-01 9.47559373e-01 -4.97255263e-02 -6.66951597e+01] [-1.59140948e-01 -1.21050917e-03 9.87255131e-01 -3.78845238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.41, Y:-66.70, Z:-37.89 [[ 9.35774653e-01 3.18549436e-01 1.51168962e-01 2.20414876e+02] [-3.14648517e-01 9.47905671e-01 -4.97106677e-02 -6.67041895e+01] [-1.59129222e-01 -1.04710695e-03 9.87257208e-01 -3.78893930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.44, Y:-66.71, Z:-37.89 [[ 9.36472063e-01 3.16611760e-01 1.50920737e-01 2.20441174e+02] [-3.12700679e-01 9.48554934e-01 -4.96167561e-02 -6.67133219e+01] [-1.58865858e-01 -7.28310951e-04 9.87299908e-01 -3.78935850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:-66.72, Z:-37.90 [[ 9.36653134e-01 3.15838184e-01 1.51417135e-01 2.20466838e+02] [-3.11893111e-01 9.48812873e-01 -4.97676513e-02 -6.67220652e+01] [-1.59385052e-01 -6.10934851e-04 9.87216305e-01 -3.78980865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.49, Y:-66.73, Z:-37.90 [[ 9.36837602e-01 3.15119406e-01 1.51773081e-01 2.20493090e+02] [-3.11148636e-01 9.49051899e-01 -4.98700289e-02 -6.67314447e+01] [-1.59755545e-01 -5.03869021e-04 9.87156478e-01 -3.79025854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.52, Y:-66.74, Z:-37.91 [[ 9.36920943e-01 3.15238802e-01 1.51008759e-01 2.20519380e+02] [-3.11311649e-01 9.49012231e-01 -4.96068917e-02 -6.67403456e+01] [-1.58947176e-01 -5.33049894e-04 9.87286945e-01 -3.79063360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:220.54, Y:-66.75, Z:-37.91 [[ 9.36723448e-01 3.15956297e-01 1.50734204e-01 2.20544254e+02] [-3.12054663e-01 9.48773511e-01 -4.95046616e-02 -6.67485259e+01] [-1.58653930e-01 -6.65133891e-04 9.87334031e-01 -3.79103763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.57, Y:-66.76, Z:-37.92 [[ 9.35942902e-01 3.17820772e-01 1.51660282e-01 2.20570803e+02] [-3.13897380e-01 9.48150281e-01 -4.97943769e-02 -6.67565160e+01] [-1.59622427e-01 -1.00107180e-03 9.87177633e-01 -3.79164578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.60, Y:-66.76, Z:-37.92 [[ 9.35622696e-01 3.18738435e-01 1.51710187e-01 2.20596217e+02] [-3.14826360e-01 9.47841992e-01 -4.97988029e-02 -6.67648576e+01] [-1.59670078e-01 -1.16947559e-03 9.87169741e-01 -3.79213361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.62, Y:-66.77, Z:-37.93 [[ 9.35308611e-01 3.19596388e-01 1.51841864e-01 2.20622602e+02] [-3.15691009e-01 9.47552837e-01 -4.98277913e-02 -6.67734917e+01] [-1.59802971e-01 -1.33074909e-03 9.87148033e-01 -3.79263251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.65, Y:-66.78, Z:-37.93 [[ 9.34721827e-01 3.21163666e-01 1.52147975e-01 2.20647931e+02] [-3.17264904e-01 9.47022333e-01 -4.99167521e-02 -6.67819902e+01] [-1.60118977e-01 -1.61293500e-03 9.87096404e-01 -3.79305230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.67, Y:-66.79, Z:-37.93 [[ 9.34488477e-01 3.21778555e-01 1.52282131e-01 2.20673405e+02] [-3.17884647e-01 9.46813355e-01 -4.99381862e-02 -6.67899473e+01] [-1.60251793e-01 -1.74149184e-03 9.87074633e-01 -3.79349243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.70, Y:-66.80, Z:-37.94 [[ 9.34084717e-01 3.22900666e-01 1.52384059e-01 2.20700483e+02] [-3.19018629e-01 9.46430854e-01 -4.99575047e-02 -6.67978567e+01] [-1.60352287e-01 -1.94881206e-03 9.87057924e-01 -3.79385709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.73, Y:-66.81, Z:-37.94 [[ 9.33869331e-01 3.23195858e-01 1.53076810e-01 2.20725692e+02] [-3.19284132e-01 9.46329940e-01 -5.01725812e-02 -6.68056020e+01] [-1.61076739e-01 -2.02036143e-03 9.86939817e-01 -3.79435284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:-66.81, Z:-37.95 [[ 9.33781522e-01 3.23255040e-01 1.53486967e-01 2.20752202e+02] [-3.19325291e-01 9.46309663e-01 -5.02929463e-02 -6.68138493e+01] [-1.61503648e-01 -2.04964644e-03 9.86869987e-01 -3.79480601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:220.78, Y:-66.82, Z:-37.95 [[ 9.33766671e-01 3.23310882e-01 1.53459695e-01 2.20779039e+02] [-3.19385232e-01 9.46290541e-01 -5.02721199e-02 -6.68220827e+01] [-1.61470981e-01 -2.07033043e-03 9.86875289e-01 -3.79526330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.80, Y:-66.83, Z:-37.96 [[ 9.33952535e-01 3.23049592e-01 1.52877803e-01 2.20804639e+02] [-3.19152194e-01 9.46379864e-01 -5.00702438e-02 -6.68282925e+01] [-1.60855647e-01 -2.02805523e-03 9.86975860e-01 -3.79571936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.83, Y:-66.84, Z:-37.96 [[ 9.34218423e-01 3.22408269e-01 1.52606838e-01 2.20831112e+02] [-3.18519841e-01 9.46598734e-01 -4.99594661e-02 -6.68363765e+01] [-1.60564785e-01 -1.93525216e-03 9.87023406e-01 -3.79625056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:220.86, Y:-66.84, Z:-37.97 [[ 9.34425341e-01 3.21913642e-01 1.52384017e-01 2.20857068e+02] [-3.18031977e-01 9.46767212e-01 -4.98749325e-02 -6.68444351e+01] [-1.60327612e-01 -1.85858920e-03 9.87062107e-01 -3.79672107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.88, Y:-66.85, Z:-37.97 [[ 9.34667373e-01 3.21329456e-01 1.52132450e-01 2.20882245e+02] [-3.17454893e-01 9.46965817e-01 -4.97808360e-02 -6.68515429e+01] [-1.60060279e-01 -1.76666732e-03 9.87105661e-01 -3.79717871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:220.91, Y:-66.86, Z:-37.98 [[ 9.35082503e-01 3.20483028e-01 1.51364925e-01 2.20908524e+02] [-3.16638699e-01 9.47252863e-01 -4.95171385e-02 -6.68591361e+01] [-1.59250262e-01 -1.62538329e-03 9.87236908e-01 -3.79763815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.93, Y:-66.87, Z:-37.98 [[ 9.35959003e-01 3.18079925e-01 1.51016245e-01 2.20934752e+02] [-3.14227207e-01 9.48063087e-01 -4.93725141e-02 -6.68663013e+01] [-1.58877333e-01 -1.24276373e-03 9.87297548e-01 -3.79814657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.96, Y:-66.87, Z:-37.99 [[ 9.37419639e-01 3.14013619e-01 1.50465502e-01 2.20961019e+02] [-3.10141946e-01 9.49418301e-01 -4.91616050e-02 -6.68743578e+01] [-1.58292114e-01 -5.80609461e-04 9.87392156e-01 -3.79863847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:220.99, Y:-66.88, Z:-37.99 [[ 9.38313251e-01 3.11327460e-01 1.50477427e-01 2.20986585e+02] [-3.07422735e-01 9.50302685e-01 -4.91535243e-02 -6.68833029e+01] [-1.58301945e-01 -1.38779019e-04 9.87390741e-01 -3.79917189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.01, Y:-66.89, Z:-38.00 [[ 9.39230062e-01 3.08234451e-01 1.51123834e-01 2.21011834e+02] [-3.04257938e-01 9.51310351e-01 -4.93530465e-02 -6.68923241e+01] [-1.58977977e-01 3.73238865e-04 9.87282059e-01 -3.79959667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.04, Y:-66.90, Z:-38.00 [[ 9.41091731e-01 3.02142613e-01 1.51842668e-01 2.21036863e+02] [-2.98052112e-01 9.53261719e-01 -4.95684692e-02 -6.69020199e+01] [-1.59722550e-01 1.39144842e-03 9.87160965e-01 -3.79998663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:221.06, Y:-66.91, Z:-38.00 [[ 9.41920626e-01 2.99363458e-01 1.52207276e-01 2.21062448e+02] [-2.95219373e-01 9.54137350e-01 -4.96733216e-02 -6.69114173e+01] [-1.60097025e-01 1.85378955e-03 9.87099542e-01 -3.80048634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.09, Y:-66.92, Z:-38.01 [[ 9.43164395e-01 2.94973497e-01 1.53073710e-01 2.21088671e+02] [-2.90726108e-01 9.55501888e-01 -4.99446976e-02 -6.69234473e+01] [-1.60994581e-01 2.60353648e-03 9.86951856e-01 -3.80099889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.12, Y:-66.93, Z:-38.01 [[ 9.43611118e-01 2.93595718e-01 1.52969322e-01 2.21115563e+02] [-2.89337471e-01 9.55925495e-01 -4.99026662e-02 -6.69336620e+01] [-1.60878484e-01 2.82895379e-03 9.86970167e-01 -3.80148125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.14, Y:-66.94, Z:-38.02 [[ 9.43782005e-01 2.92807458e-01 1.53425293e-01 2.21141997e+02] [-2.88514584e-01 9.56166829e-01 -5.00432877e-02 -6.69438021e+01] [-1.61353224e-01 2.96451980e-03 9.86892268e-01 -3.80195709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73587156000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:221.17, Y:-66.96, Z:-38.02 [[ 9.43729344e-01 2.92616575e-01 1.54111856e-01 2.21169284e+02] [-2.88283745e-01 9.56225142e-01 -5.02589253e-02 -6.69555132e+01] [-1.62072226e-01 3.00287950e-03 9.86774329e-01 -3.80242804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:221.20, Y:-66.97, Z:-38.03 [[ 9.43509512e-01 2.93218347e-01 1.54313970e-01 2.21195474e+02] [-2.88882717e-01 9.56041105e-01 -5.03207917e-02 -6.69657535e+01] [-1.62285478e-01 2.89950668e-03 9.86739589e-01 -3.80287913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:-66.98, Z:-38.03 [[ 9.42878260e-01 2.95248063e-01 1.54302200e-01 2.21222304e+02] [-2.90941069e-01 9.55417243e-01 -5.03108911e-02 -6.69764078e+01] [-1.62277176e-01 2.54419830e-03 9.86741934e-01 -3.80328463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:-66.99, Z:-38.04 [[ 9.42545426e-01 2.96455164e-01 1.54020962e-01 2.21248462e+02] [-2.92181307e-01 9.55043944e-01 -5.02110507e-02 -6.69862319e+01] [-1.61982112e-01 2.32415031e-03 9.86790958e-01 -3.80378189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:-67.00, Z:-38.04 [[ 9.42148499e-01 2.97764094e-01 1.53924494e-01 2.21274317e+02] [-2.93513936e-01 9.54637191e-01 -5.01737203e-02 -6.69961477e+01] [-1.61881979e-01 2.09211111e-03 9.86807908e-01 -3.80424588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.30, Y:-67.01, Z:-38.05 [[ 9.41110880e-01 3.00834303e-01 1.54301760e-01 2.21299503e+02] [-2.96605758e-01 9.53675151e-01 -5.02864828e-02 -6.70068689e+01] [-1.62281653e-01 1.55836554e-03 9.86743247e-01 -3.80476125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.33, Y:-67.02, Z:-38.05 [[ 9.40037462e-01 3.03931372e-01 1.54774973e-01 2.21326142e+02] [-2.99719981e-01 9.52693385e-01 -5.04306163e-02 -6.70171781e+01] [-1.62780539e-01 1.01751670e-03 9.86661776e-01 -3.80528373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:221.35, Y:-67.03, Z:-38.06 [[ 9.39420406e-01 3.05700274e-01 1.55037557e-01 2.21352482e+02] [-3.01499696e-01 9.52127537e-01 -5.05082904e-02 -6.70261701e+01] [-1.63055925e-01 7.04742290e-04 9.86616576e-01 -3.80579161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.38, Y:-67.03, Z:-38.06 [[ 9.38799698e-01 3.07599821e-01 1.55040247e-01 2.21378881e+02] [-3.03426796e-01 9.51515748e-01 -5.04971398e-02 -6.70348022e+01] [-1.63056148e-01 3.63334091e-04 9.86616724e-01 -3.80625613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:-67.04, Z:-38.07 [[ 9.37625690e-01 3.11275812e-01 1.54807735e-01 2.21403960e+02] [-3.07167047e-01 9.50319571e-01 -5.04095060e-02 -6.70429801e+01] [-1.62808080e-01 -2.86586938e-04 9.86657715e-01 -3.80675527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.43, Y:-67.05, Z:-38.07 [[ 9.37065602e-01 3.12886699e-01 1.54951515e-01 2.21429005e+02] [-3.08794421e-01 9.49790281e-01 -5.04423317e-02 -6.70514548e+01] [-1.62954178e-01 -5.80389456e-04 9.86633467e-01 -3.80724573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.46, Y:-67.06, Z:-38.08 [[ 9.37083147e-01 3.12832091e-01 1.54955664e-01 2.21455740e+02] [-3.08741180e-01 9.49808265e-01 -5.04295830e-02 -6.70600268e+01] [-1.62954162e-01 -5.84482239e-04 9.86633468e-01 -3.80773003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:-67.07, Z:-38.08 [[ 9.36297153e-01 3.15142126e-01 1.55026068e-01 2.21481465e+02] [-3.11080489e-01 9.49043965e-01 -5.04428500e-02 -6.70684514e+01] [-1.63023221e-01 -9.96088289e-04 9.86621730e-01 -3.80821512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.51, Y:-67.08, Z:-38.09 [[ 9.36002083e-01 3.15903541e-01 1.55258023e-01 2.21508244e+02] [-3.11842043e-01 9.48790624e-01 -5.05063488e-02 -6.70766858e+01] [-1.63262491e-01 -1.14193156e-03 9.86582006e-01 -3.80871398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.53, Y:-67.09, Z:-38.09 [[ 9.35830995e-01 3.16464974e-01 1.55145958e-01 2.21533873e+02] [-3.12419070e-01 9.48603371e-01 -5.04575944e-02 -6.70850183e+01] [-1.63140040e-01 -1.25077527e-03 9.86602130e-01 -3.80919911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.56, Y:-67.09, Z:-38.10 [[ 9.35442407e-01 3.17133340e-01 1.56121582e-01 2.21558936e+02] [-3.13048364e-01 9.48379935e-01 -5.07564786e-02 -6.70931117e+01] [-1.64159147e-01 -1.39384319e-03 9.86432882e-01 -3.80963689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:221.59, Y:-67.10, Z:-38.10 [[ 9.35318271e-01 3.17155104e-01 1.56819552e-01 2.21585306e+02] [-3.13036051e-01 9.48372621e-01 -5.09686374e-02 -6.71009272e+01] [-1.64888333e-01 -1.41827537e-03 9.86311222e-01 -3.81012913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.61, Y:-67.11, Z:-38.11 [[ 9.35331242e-01 3.17135474e-01 1.56781881e-01 2.21611039e+02] [-3.13020244e-01 9.48379173e-01 -5.09437995e-02 -6.71085642e+01] [-1.64844757e-01 -1.42657549e-03 9.86318494e-01 -3.81061131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:221.64, Y:-67.12, Z:-38.11 [[ 9.35495857e-01 3.16538858e-01 1.57005262e-01 2.21636580e+02] [-3.12406591e-01 9.48578596e-01 -5.09977421e-02 -6.71164474e+01] [-1.65074598e-01 -1.34130209e-03 9.86280172e-01 -3.81121936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:-67.12, Z:-38.12 [[ 9.35792878e-01 3.16058372e-01 1.56201137e-01 2.21662342e+02] [-3.11963649e-01 9.48738909e-01 -5.07263587e-02 -6.71248575e+01] [-1.64226587e-01 -1.25971150e-03 9.86421837e-01 -3.81159852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.69, Y:-67.13, Z:-38.12 [[ 9.36208830e-01 3.15262051e-01 1.55315375e-01 2.21688467e+02] [-3.11205425e-01 9.49003987e-01 -5.04243514e-02 -6.71332484e+01] [-1.63291795e-01 -1.12726441e-03 9.86577173e-01 -3.81207193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.71, Y:-67.14, Z:-38.13 [[ 9.36252134e-01 3.15074679e-01 1.55434516e-01 2.21713785e+02] [-3.11011258e-01 9.49066236e-01 -5.04507338e-02 -6.71416880e+01] [-1.63413400e-01 -1.10727719e-03 9.86557061e-01 -3.81255277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39587156000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.74, Y:-67.15, Z:-38.13 [[ 9.36304147e-01 3.14691897e-01 1.55895972e-01 2.21739696e+02] [-3.10601298e-01 9.49193285e-01 -5.05859879e-02 -6.71502377e+01] [-1.63894410e-01 -1.05762105e-03 9.86477320e-01 -3.81296361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.77, Y:-67.16, Z:-38.13 [[ 9.36437753e-01 3.14075834e-01 1.56335231e-01 2.21765954e+02] [-3.09955584e-01 9.49397409e-01 -5.07158368e-02 -6.71581818e+01] [-1.64352882e-01 -9.64753763e-04 9.86401135e-01 -3.81333976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:-67.17, Z:-38.14 [[ 9.36548695e-01 3.13787752e-01 1.56249125e-01 2.21791711e+02] [-3.09669796e-01 9.49492703e-01 -5.06776443e-02 -6.71658755e+01] [-1.64259428e-01 -9.23552912e-04 9.86416741e-01 -3.81378089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.82, Y:-67.17, Z:-38.14 [[ 9.36940733e-01 3.12595118e-01 1.56289332e-01 2.21818407e+02] [-3.08460968e-01 9.49886183e-01 -5.06761280e-02 -6.71737985e+01] [-1.64298187e-01 -7.28630166e-04 9.86410449e-01 -3.81428230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.84, Y:-67.18, Z:-38.15 [[ 9.37216582e-01 3.11693886e-01 1.56435288e-01 2.21844489e+02] [-3.07541594e-01 9.50182394e-01 -5.07108155e-02 -6.71821719e+01] [-1.64448307e-01 -5.83340612e-04 9.86385530e-01 -3.81472172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.87, Y:-67.19, Z:-38.15 [[ 9.37683768e-01 3.10425086e-01 1.56158306e-01 2.21870831e+02] [-3.06272198e-01 9.50597774e-01 -5.06084290e-02 -6.71903858e+01] [-1.64153864e-01 -3.72245080e-04 9.86434676e-01 -3.81518515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.90, Y:-67.20, Z:-38.16 [[ 9.38858821e-01 3.07235865e-01 1.55403468e-01 2.21897181e+02] [-3.03081555e-01 9.51633381e-01 -5.03535388e-02 -6.71988840e+01] [-1.63357541e-01 1.74939220e-04 9.86566918e-01 -3.81566113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:-67.21, Z:-38.16 [[ 9.39293215e-01 3.05605038e-01 1.55993002e-01 2.21924156e+02] [-3.01398638e-01 9.52158264e-01 -5.05321843e-02 -6.72077117e+01] [-1.63972916e-01 4.48459706e-04 9.86464739e-01 -3.81622215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:221.95, Y:-67.22, Z:-38.17 [[ 9.39975993e-01 3.03605484e-01 1.55784600e-01 2.21951477e+02] [-2.99384491e-01 9.52797507e-01 -5.04562996e-02 -6.72161439e+01] [-1.63749988e-01 7.88217125e-04 9.86501556e-01 -3.81668934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.98, Y:-67.22, Z:-38.17 [[ 9.39951307e-01 3.03327284e-01 1.56473960e-01 2.21978629e+02] [-2.99066152e-01 9.52886072e-01 -5.06711994e-02 -6.72240041e+01] [-1.64471814e-01 8.32394976e-04 9.86381432e-01 -3.81715317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.01, Y:-67.23, Z:-38.18 [[ 9.39892913e-01 3.03585883e-01 1.56323137e-01 2.22005441e+02] [-2.99337978e-01 9.52803761e-01 -5.06139188e-02 -6.72313386e+01] [-1.64310944e-01 7.78211813e-04 9.86408287e-01 -3.81763651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.03, Y:-67.24, Z:-38.18 [[ 9.39617378e-01 3.04817302e-01 1.55581477e-01 2.22032822e+02] [-3.00628405e-01 9.52410683e-01 -5.03632055e-02 -6.72399182e+01] [-1.63529037e-01 5.49932015e-04 9.86538368e-01 -3.81820315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:-67.25, Z:-38.19 [[ 9.39317287e-01 3.05746029e-01 1.55571208e-01 2.22059663e+02] [-3.01571693e-01 9.52113030e-01 -5.03516949e-02 -6.72481243e+01] [-1.63516205e-01 3.80344744e-04 9.86540575e-01 -3.81865765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:-67.25, Z:-38.19 [[ 9.38646040e-01 3.07613771e-01 1.55940310e-01 2.22086135e+02] [-3.03446427e-01 9.51511306e-01 -5.04628598e-02 -6.72543723e+01] [-1.63902039e-01 4.72336219e-05 9.86476619e-01 -3.81920200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.11, Y:-67.26, Z:-38.20 [[ 9.38424399e-01 3.08270078e-01 1.55978222e-01 2.22112542e+02] [-3.04111501e-01 9.51298877e-01 -5.04642648e-02 -6.72613131e+01] [-1.63938530e-01 -7.78738633e-05 9.86470553e-01 -3.81968501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.14, Y:-67.27, Z:-38.20 [[ 9.38318326e-01 3.08556137e-01 1.56050724e-01 2.22138644e+02] [-3.04399629e-01 9.51206124e-01 -5.04754901e-02 -6.72680568e+01] [-1.64010927e-01 -1.39705356e-04 9.86458512e-01 -3.82010286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:-67.27, Z:-38.21 [[ 9.38410664e-01 3.07817324e-01 1.56951967e-01 2.22165196e+02] [-3.03605192e-01 9.51445476e-01 -5.07483329e-02 -6.72733674e+01] [-1.64952455e-01 -2.86552382e-05 9.86301519e-01 -3.82054372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.19, Y:-67.28, Z:-38.21 [[ 9.38689107e-01 3.07112321e-01 1.56667747e-01 2.22191686e+02] [-3.02908152e-01 9.51673272e-01 -5.06422301e-02 -6.72810049e+01] [-1.64649360e-01 8.13719352e-05 9.86352159e-01 -3.82104555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.22, Y:-67.29, Z:-38.22 [[ 9.39198449e-01 3.05706694e-01 1.56363968e-01 2.22218403e+02] [-3.01501589e-01 9.52125684e-01 -5.05319132e-02 -6.72889579e+01] [-1.64326094e-01 3.15509712e-04 9.86406019e-01 -3.82162247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:222.25, Y:-67.30, Z:-38.22 [[ 9.39442320e-01 3.05093147e-01 1.56097080e-01 2.22245286e+02] [-3.00896087e-01 9.52322426e-01 -5.04335376e-02 -6.72968255e+01] [-1.64041677e-01 4.10398977e-04 9.86453324e-01 -3.82212433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99587156000004 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:222.27, Y:-67.30, Z:-38.23 [[ 9.39798939e-01 3.03843257e-01 1.56388070e-01 2.22271974e+02] [-2.99615308e-01 9.52721834e-01 -5.05150843e-02 -6.73030569e+01] [-1.64342997e-01 6.17762822e-04 9.86403061e-01 -3.82261999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02587156000004 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:222.30, Y:-67.31, Z:-38.23 [[ 9.39870069e-01 3.03556908e-01 1.56516633e-01 2.22298042e+02] [-2.99319699e-01 9.52813082e-01 -5.05464973e-02 -6.73101354e+01] [-1.64474834e-01 6.58628376e-04 9.86381060e-01 -3.82302280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.33, Y:-67.32, Z:-38.23 [[ 9.39984599e-01 3.03244158e-01 1.56435081e-01 2.22326045e+02] [-2.99009497e-01 9.52912636e-01 -5.05057320e-02 -6.73178376e+01] [-1.64384534e-01 6.99035215e-04 9.86396085e-01 -3.82343680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08587156000004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:222.35, Y:-67.32, Z:-38.24 [[ 9.39875373e-01 3.03582893e-01 1.56434365e-01 2.22352973e+02] [-2.99354313e-01 9.52804821e-01 -5.04972018e-02 -6.73247895e+01] [-1.64381504e-01 6.31774409e-04 9.86396635e-01 -3.82402784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:222.38, Y:-67.33, Z:-38.25 [[ 9.39909816e-01 3.03642595e-01 1.56111217e-01 2.22379223e+02] [-2.99434129e-01 9.52785811e-01 -5.03825341e-02 -6.73325872e+01] [-1.64038836e-01 6.10011937e-04 9.86453693e-01 -3.82451552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14587156000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:222.41, Y:-67.34, Z:-38.25 [[ 9.39776414e-01 3.03599867e-01 1.56994944e-01 2.22406995e+02] [-2.99344453e-01 9.52799427e-01 -5.06571891e-02 -6.73396877e+01] [-1.64964209e-01 6.10865720e-04 9.86299365e-01 -3.82498065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.43, Y:-67.35, Z:-38.25 [[ 9.39936483e-01 3.03006373e-01 1.57183159e-01 2.22433897e+02] [-2.98733876e-01 9.52988267e-01 -5.07093091e-02 -6.73474375e+01] [-1.65158950e-01 7.07595366e-04 9.86266709e-01 -3.82537087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20587156000002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:222.46, Y:-67.36, Z:-38.26 [[ 9.40337851e-01 3.01733614e-01 1.57230886e-01 2.22460133e+02] [-2.97442622e-01 9.53391828e-01 -5.07139890e-02 -6.73558495e+01] [-1.65204757e-01 9.21116370e-04 9.86258860e-01 -3.82594489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23587156000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:222.49, Y:-67.36, Z:-38.26 [[ 9.40701074e-01 3.00663973e-01 1.57107176e-01 2.22486888e+02] [-2.96366717e-01 9.53729506e-01 -5.06635862e-02 -6.73641999e+01] [-1.65070465e-01 1.09795188e-03 9.86281165e-01 -3.82636426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:222.51, Y:-67.37, Z:-38.27 [[ 9.40987677e-01 2.99723903e-01 1.57187064e-01 2.22514232e+02] [-2.95411316e-01 9.54025165e-01 -5.06768063e-02 -6.73725741e+01] [-1.65149465e-01 1.25141278e-03 9.86267757e-01 -3.82695269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:222.54, Y:-67.38, Z:-38.27 [[ 9.41554820e-01 2.98138739e-01 1.56805016e-01 2.22541603e+02] [-2.93826784e-01 9.54521340e-01 -5.05453516e-02 -6.73812671e+01] [-1.64743261e-01 1.51770594e-03 9.86335315e-01 -3.82739265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:222.57, Y:-67.39, Z:-38.28 [[ 9.41781505e-01 2.97368579e-01 1.56906103e-01 2.22567716e+02] [-2.93041785e-01 9.54761342e-01 -5.05696697e-02 -6.73899744e+01] [-1.64845713e-01 1.64553503e-03 9.86317993e-01 -3.82786126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:222.59, Y:-67.40, Z:-38.28 [[ 9.42316986e-01 2.95286981e-01 1.57620736e-01 2.22594271e+02] [-2.90893221e-01 9.55406491e-01 -5.07894757e-02 -6.74001161e+01] [-1.65589345e-01 2.00898215e-03 9.86192746e-01 -3.82835112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:222.62, Y:-67.41, Z:-38.29 [[ 9.42741719e-01 2.94099747e-01 1.57300317e-01 2.22620825e+02] [-2.89708947e-01 9.55772189e-01 -5.06778921e-02 -6.74090238e+01] [-1.65247623e-01 2.20485405e-03 9.86249645e-01 -3.82882829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.65, Y:-67.42, Z:-38.29 [[ 9.43209540e-01 2.92791666e-01 1.56935666e-01 2.22646702e+02] [-2.88404739e-01 9.56173197e-01 -5.05521924e-02 -6.74172564e+01] [-1.64858938e-01 2.42032036e-03 9.86314186e-01 -3.82924541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.67, Y:-67.43, Z:-38.30 [[ 9.43651194e-01 2.91553482e-01 1.56585411e-01 2.22673386e+02] [-2.87171050e-01 9.56550939e-01 -5.04290471e-02 -6.74262631e+01] [-1.64484687e-01 2.62063349e-03 9.86376156e-01 -3.82974064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.70, Y:-67.44, Z:-38.30 [[ 9.44433436e-01 2.89308701e-01 1.56031920e-01 2.22700839e+02] [-2.84928359e-01 9.57231173e-01 -5.02425292e-02 -6.74377678e+01] [-1.63894219e-01 2.99280555e-03 9.86473379e-01 -3.83022415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:222.73, Y:-67.45, Z:-38.31 [[ 9.44640469e-01 2.88685844e-01 1.55932252e-01 2.22727776e+02] [-2.84303378e-01 9.57418876e-01 -5.02064214e-02 -6.74475442e+01] [-1.63786364e-01 3.09495167e-03 9.86490977e-01 -3.83067963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.75, Y:-67.46, Z:-38.31 [[ 9.44846697e-01 2.87852878e-01 1.56222403e-01 2.22754568e+02] [-2.83443662e-01 9.57669163e-01 -5.02937871e-02 -6.74575492e+01] [-1.64086590e-01 3.23966854e-03 9.86440619e-01 -3.83115065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.78, Y:-67.47, Z:-38.32 [[ 9.44803881e-01 2.87897085e-01 1.56399794e-01 2.22782084e+02] [-2.83479752e-01 9.57655914e-01 -5.03426224e-02 -6.74674577e+01] [-1.64270682e-01 3.22773023e-03 9.86410019e-01 -3.83164787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.81, Y:-67.48, Z:-38.32 [[ 9.44638487e-01 2.88329720e-01 1.56601726e-01 2.22808725e+02] [-2.83907467e-01 9.57525996e-01 -5.04035475e-02 -6.74769968e+01] [-1.64483065e-01 3.15273150e-03 9.86374869e-01 -3.83214145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.83, Y:-67.49, Z:-38.33 [[ 9.44296103e-01 2.89822767e-01 1.55909058e-01 2.22834969e+02] [-2.85461056e-01 9.57076019e-01 -5.01744893e-02 -6.74865461e+01] [-1.63758530e-01 2.87361028e-03 9.86496268e-01 -3.83268640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:222.86, Y:-67.50, Z:-38.33 [[ 9.44082880e-01 2.90553178e-01 1.55840836e-01 2.22862417e+02] [-2.86206209e-01 9.56854923e-01 -5.01463977e-02 -6.74960450e+01] [-1.63687266e-01 2.73974078e-03 9.86508476e-01 -3.83326370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.89, Y:-67.51, Z:-38.34 [[ 9.43901516e-01 2.91625239e-01 1.54934337e-01 2.22888452e+02] [-2.87344060e-01 9.56529296e-01 -4.98507394e-02 -6.75080260e+01] [-1.62736966e-01 2.53472694e-03 9.86666233e-01 -3.83386859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71587156000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:222.92, Y:-67.52, Z:-38.34 [[ 9.43912516e-01 2.91713831e-01 1.54700362e-01 2.22915256e+02] [-2.87447833e-01 9.56502348e-01 -4.97694819e-02 -6.75180118e+01] [-1.62489706e-01 2.50975303e-03 9.86707047e-01 -3.83440430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.94, Y:-67.53, Z:-38.35 [[ 9.43919968e-01 2.91376083e-01 1.55290283e-01 2.22941222e+02] [-2.87074049e-01 9.56605129e-01 -4.99511508e-02 -6.75290673e+01] [-1.63106052e-01 2.57007836e-03 9.86605195e-01 -3.83497740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.97, Y:-67.54, Z:-38.35 [[ 9.44046427e-01 2.91051567e-01 1.55130038e-01 2.22970357e+02] [-2.86755528e-01 9.56703792e-01 -4.98910905e-02 -6.75394740e+01] [-1.62934376e-01 2.61510984e-03 9.86633443e-01 -3.83534911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80587156000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:223.00, Y:-67.55, Z:-38.36 [[ 9.44075987e-01 2.90871078e-01 1.55288591e-01 2.22997881e+02] [-2.86563039e-01 9.56758578e-01 -4.99464591e-02 -6.75492399e+01] [-1.63101672e-01 2.65328209e-03 9.86605699e-01 -3.83589941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:223.03, Y:-67.56, Z:-38.36 [[ 9.44238560e-01 2.90810975e-01 1.54410227e-01 2.23025871e+02] [-2.86551475e-01 9.56776868e-01 -4.96616185e-02 -6.75616754e+01] [-1.62178277e-01 2.64593695e-03 9.86757926e-01 -3.83649500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86587156000004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:223.06, Y:-67.57, Z:-38.37 [[ 9.44202142e-01 2.91090854e-01 1.54105256e-01 2.23056516e+02] [-2.86851558e-01 9.56691894e-01 -4.95661567e-02 -6.75740392e+01] [-1.61859504e-01 2.59513874e-03 9.86810400e-01 -3.83710005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89587156000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.09, Y:-67.59, Z:-38.38 [[ 9.43749024e-01 2.92257123e-01 1.54672408e-01 2.23085374e+02] [-2.87996267e-01 9.56336674e-01 -4.97826964e-02 -6.75870564e+01] [-1.62468244e-01 2.43729491e-03 9.86710763e-01 -3.83765730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.11, Y:-67.60, Z:-38.38 [[ 9.43538258e-01 2.92789886e-01 1.54950436e-01 2.23114842e+02] [-2.88515388e-01 9.56173840e-01 -4.99044885e-02 -6.75974083e+01] [-1.62771083e-01 2.38120886e-03 9.86660988e-01 -3.83807778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.14, Y:-67.61, Z:-38.39 [[ 9.43548225e-01 2.92760409e-01 1.54945442e-01 2.23142380e+02] [-2.88482972e-01 9.56182812e-01 -4.99199891e-02 -6.76061828e+01] [-1.62770765e-01 2.40279526e-03 9.86660988e-01 -3.83857607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:223.17, Y:-67.62, Z:-38.39 [[ 9.43297940e-01 2.93450852e-01 1.55163117e-01 2.23171092e+02] [-2.89171623e-01 9.55971441e-01 -4.99837696e-02 -6.76171739e+01] [-1.62999289e-01 2.28081642e-03 9.86623550e-01 -3.83914960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.20, Y:-67.63, Z:-38.40 [[ 9.42909456e-01 2.94125570e-01 1.56243103e-01 2.23199680e+02] [-2.89794620e-01 9.55764291e-01 -5.03358547e-02 -6.76293820e+01] [-1.64136641e-01 2.18374268e-03 9.86435195e-01 -3.83959367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.23, Y:-67.64, Z:-38.40 [[ 9.42768128e-01 2.94595353e-01 1.56210865e-01 2.23229475e+02] [-2.90272060e-01 9.55619772e-01 -5.03287484e-02 -6.76413105e+01] [-1.64104806e-01 2.10469039e-03 9.86440664e-01 -3.84021620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.26, Y:-67.65, Z:-38.41 [[ 9.42758220e-01 2.94579386e-01 1.56300749e-01 2.23259218e+02] [-2.90246049e-01 9.55624623e-01 -5.03866163e-02 -6.76533501e+01] [-1.64207703e-01 2.13672180e-03 9.86423471e-01 -3.84071778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.29, Y:-67.67, Z:-38.41 [[ 9.42618035e-01 2.95039635e-01 1.56278131e-01 2.23286977e+02] [-2.90709043e-01 9.55482742e-01 -5.04081544e-02 -6.76669868e+01] [-1.64193461e-01 2.08416951e-03 9.86425955e-01 -3.84122089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.32, Y:-67.68, Z:-38.42 [[ 9.42470527e-01 2.95539975e-01 1.56222367e-01 2.23315106e+02] [-2.91214366e-01 9.55328227e-01 -5.04199486e-02 -6.76786913e+01] [-1.64144747e-01 2.02511795e-03 9.86434185e-01 -3.84173852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:223.34, Y:-67.69, Z:-38.42 [[ 9.41917527e-01 2.97109552e-01 1.56579971e-01 2.23342287e+02] [-2.92785494e-01 9.54841784e-01 -5.05353635e-02 -6.76923455e+01] [-1.64523638e-01 1.75580030e-03 9.86371578e-01 -3.84227505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19587156000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:223.37, Y:-67.70, Z:-38.43 [[ 9.41484765e-01 2.98615142e-01 1.56318376e-01 2.23371299e+02] [-2.94326249e-01 9.54372452e-01 -5.04507932e-02 -6.77031866e+01] [-1.64251323e-01 1.49005196e-03 9.86417398e-01 -3.84271507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.40, Y:-67.71, Z:-38.43 [[ 9.40306610e-01 3.02419568e-01 1.56095750e-01 2.23397849e+02] [-2.98194276e-01 9.53174547e-01 -5.03830913e-02 -6.77142415e+01] [-1.64023328e-01 8.28694755e-04 9.86456112e-01 -3.84321919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:223.43, Y:-67.72, Z:-38.44 [[ 9.39556829e-01 3.04642663e-01 1.56287595e-01 2.23425577e+02] [-3.00437009e-01 9.52466614e-01 -5.04475274e-02 -6.77245279e+01] [-1.64227185e-01 4.43741392e-04 9.86422442e-01 -3.84375318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:223.45, Y:-67.73, Z:-38.44 [[ 9.38700310e-01 3.06909245e-01 1.56998225e-01 2.23452119e+02] [-3.02697105e-01 9.51738784e-01 -5.06729580e-02 -6.77344245e+01] [-1.64973299e-01 4.38130306e-05 9.86298032e-01 -3.84420199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.48, Y:-67.74, Z:-38.45 [[ 9.37165114e-01 3.11652436e-01 1.56825724e-01 2.23477485e+02] [-3.07516790e-01 9.50195834e-01 -5.06092905e-02 -6.77441116e+01] [-1.64787658e-01 -7.97281793e-04 9.86328744e-01 -3.84469086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:223.50, Y:-67.75, Z:-38.45 [[ 9.36373672e-01 3.13992811e-01 1.56884863e-01 2.23504736e+02] [-3.09888311e-01 9.49424577e-01 -5.06182430e-02 -6.77531448e+01] [-1.64844110e-01 -1.21919539e-03 9.86318880e-01 -3.84517520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:223.53, Y:-67.76, Z:-38.46 [[ 9.35733319e-01 3.16042177e-01 1.56590223e-01 2.23530713e+02] [-3.11982987e-01 9.48743817e-01 -5.05151967e-02 -6.77614493e+01] [-1.64528938e-01 -1.58473267e-03 9.86370983e-01 -3.84563824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.56, Y:-67.77, Z:-38.46 [[ 9.34584483e-01 3.19911762e-01 1.55590193e-01 2.23558741e+02] [-3.15959435e-01 9.47444645e-01 -5.01824730e-02 -6.77708668e+01] [-1.63467059e-01 -2.26042903e-03 9.86546203e-01 -3.84617251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43587156000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:223.58, Y:-67.78, Z:-38.47 [[ 9.34051376e-01 3.21592946e-01 1.55325477e-01 2.23584721e+02] [-3.17677863e-01 9.46874572e-01 -5.00931235e-02 -6.77789170e+01] [-1.63183340e-01 -2.55391472e-03 9.86592456e-01 -3.84659809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.61, Y:-67.79, Z:-38.47 [[ 9.32855444e-01 3.25039120e-01 1.55339279e-01 2.23610614e+02] [-3.21172440e-01 9.45695270e-01 -5.00871297e-02 -6.77859741e+01] [-1.63183898e-01 -3.16664366e-03 9.86590588e-01 -3.84696484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.64, Y:-67.79, Z:-38.47 [[ 9.32349254e-01 3.26418165e-01 1.55486497e-01 2.23637810e+02] [-3.22565430e-01 9.45219262e-01 -5.01207466e-02 -6.77928640e+01] [-1.63329154e-01 -3.42452815e-03 9.86565690e-01 -3.84737884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.67, Y:-67.80, Z:-38.48 [[ 9.31618747e-01 3.28162150e-01 1.56192553e-01 2.23665399e+02] [-3.24300440e-01 9.44613928e-01 -5.03363796e-02 -6.77990574e+01] [-1.64060155e-01 -3.75899863e-03 9.86443174e-01 -3.84787915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.69, Y:-67.81, Z:-38.48 [[ 9.31554906e-01 3.28336372e-01 1.56207186e-01 2.23691699e+02] [-3.24477768e-01 9.44553228e-01 -5.03326648e-02 -6.78067820e+01] [-1.64072046e-01 -3.79811807e-03 9.86441046e-01 -3.84834448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.72, Y:-67.81, Z:-38.49 [[ 9.31724865e-01 3.27957917e-01 1.55988398e-01 2.23716799e+02] [-3.24106638e-01 9.44684946e-01 -5.02517704e-02 -6.78141674e+01] [-1.63840357e-01 -3.73605126e-03 9.86479792e-01 -3.84889088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:223.74, Y:-67.82, Z:-38.49 [[ 9.32333177e-01 3.26665353e-01 1.55063192e-01 2.23743056e+02] [-3.22844465e-01 9.45133583e-01 -4.99395751e-02 -6.78206676e+01] [-1.62868960e-01 -3.50097070e-03 9.86641498e-01 -3.84943679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:-67.83, Z:-38.50 [[ 9.32757849e-01 3.25450628e-01 1.55063482e-01 2.23768882e+02] [-3.21615042e-01 9.45553275e-01 -4.99276315e-02 -6.78276660e+01] [-1.62869762e-01 -3.30035804e-03 9.86642057e-01 -3.84990284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:223.80, Y:-67.83, Z:-38.50 [[ 9.33914931e-01 3.21716411e-01 1.55889229e-01 2.23795512e+02] [-3.17790285e-01 9.46832289e-01 -5.01791838e-02 -6.78335742e+01] [-1.63744423e-01 -2.67699362e-03 9.86499163e-01 -3.85035867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.82, Y:-67.84, Z:-38.51 [[ 9.34630305e-01 3.19517368e-01 1.56124451e-01 2.23823204e+02] [-3.15550889e-01 9.47577611e-01 -5.02424826e-02 -6.78413968e+01] [-1.63993380e-01 -2.30706239e-03 9.86458742e-01 -3.85084538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:223.85, Y:-67.85, Z:-38.51 [[ 9.35878036e-01 3.15781567e-01 1.56250772e-01 2.23850018e+02] [-3.11758235e-01 9.48830460e-01 -5.02748505e-02 -6.78475959e+01] [-1.64131363e-01 -1.66133654e-03 9.86437092e-01 -3.85130648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:223.88, Y:-67.86, Z:-38.52 [[ 9.36441813e-01 3.14265244e-01 1.55929749e-01 2.23877619e+02] [-3.10239374e-01 9.49334182e-01 -5.01611537e-02 -6.78551101e+01] [-1.63793348e-01 -1.40254613e-03 9.86493676e-01 -3.85186073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:223.91, Y:-67.86, Z:-38.52 [[ 9.36852058e-01 3.12789203e-01 1.56432529e-01 2.23905391e+02] [-3.08718090e-01 9.49821866e-01 -5.03146396e-02 -6.78630371e+01] [-1.64320912e-01 -1.15617774e-03 9.86406256e-01 -3.85234791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:223.93, Y:-67.87, Z:-38.53 [[ 9.38098171e-01 3.08899127e-01 1.56694453e-01 2.23931903e+02] [-3.04761707e-01 9.51094683e-01 -5.03905359e-02 -6.78693250e+01] [-1.64596853e-01 -4.83199351e-04 9.86360807e-01 -3.85286307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:223.96, Y:-67.88, Z:-38.53 [[ 9.38921761e-01 3.06440427e-01 1.56589243e-01 2.23959109e+02] [-3.02276365e-01 9.51889837e-01 -5.03461806e-02 -6.78765628e+01] [-1.64483814e-01 -6.21026783e-05 9.86379780e-01 -3.85334151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:223.99, Y:-67.88, Z:-38.54 [[ 9.40703649e-01 3.01180794e-01 1.56098604e-01 2.23986117e+02] [-2.96972308e-01 9.53566679e-01 -5.01800500e-02 -6.78831067e+01] [-1.63963695e-01 8.47593360e-04 9.86466010e-01 -3.85389178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:224.01, Y:-67.89, Z:-38.54 [[ 9.41656437e-01 2.98319361e-01 1.55848366e-01 2.24013987e+02] [-2.94086528e-01 9.54465174e-01 -5.00933646e-02 -6.78916585e+01] [-1.63695658e-01 1.33783454e-03 9.86509981e-01 -3.85444252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:224.04, Y:-67.90, Z:-38.55 [[ 9.42529741e-01 2.95653480e-01 1.55649305e-01 2.24043270e+02] [-2.91396118e-01 9.55293567e-01 -5.00250202e-02 -6.79008575e+01] [-1.63480851e-01 1.79446602e-03 9.86544875e-01 -3.85494644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97587156000003 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:224.07, Y:-67.91, Z:-38.56 [[ 9.43412470e-01 2.93208003e-01 1.54925717e-01 2.24074329e+02] [-2.88957180e-01 9.56046118e-01 -4.97952602e-02 -6.79102559e+01] [-1.62716499e-01 2.21057110e-03 9.86670388e-01 -3.85551842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.10, Y:-67.92, Z:-38.56 [[ 9.44779624e-01 2.88276794e-01 1.55845925e-01 2.24104910e+02] [-2.83902554e-01 9.57542064e-01 -5.01251967e-02 -6.79201501e+01] [-1.63678960e-01 3.11220819e-03 9.86508749e-01 -3.85601517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:224.14, Y:-67.93, Z:-38.57 [[ 9.45224517e-01 2.86292327e-01 1.56803433e-01 2.24135371e+02] [-2.81831316e-01 9.58135895e-01 -5.04650035e-02 -6.79309269e+01] [-1.64686741e-01 3.50864065e-03 9.86339681e-01 -3.85657969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06587156000003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:224.17, Y:-67.94, Z:-38.57 [[ 9.46127426e-01 2.82979776e-01 1.57370076e-01 2.24165688e+02] [-2.78434994e-01 9.59116969e-01 -5.06813076e-02 -6.79422937e+01] [-1.65278096e-01 4.13363886e-03 9.86238340e-01 -3.85709755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.20, Y:-67.95, Z:-38.58 [[ 9.46336533e-01 2.82100559e-01 1.57690967e-01 2.24196126e+02] [-2.77519316e-01 9.59375075e-01 -5.08182461e-02 -6.79528191e+01] [-1.65620639e-01 4.32887369e-03 9.86180037e-01 -3.85760620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:224.23, Y:-67.96, Z:-38.58 [[ 9.46641155e-01 2.81608374e-01 1.56739426e-01 2.24226061e+02] [-2.77070460e-01 9.59519248e-01 -5.05447537e-02 -6.79633916e+01] [-1.64628322e-01 4.41987908e-03 9.86345771e-01 -3.85816920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:224.26, Y:-67.97, Z:-38.59 [[ 9.47112936e-01 2.80337789e-01 1.56165970e-01 2.24256746e+02] [-2.75811019e-01 9.59890135e-01 -5.03905817e-02 -6.79742916e+01] [-1.64028558e-01 4.65327655e-03 9.86444615e-01 -3.85874150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.29, Y:-67.98, Z:-38.59 [[ 9.47194136e-01 2.80232966e-01 1.55861327e-01 2.24287135e+02] [-2.75717258e-01 9.59920548e-01 -5.03243010e-02 -6.79848265e+01] [-1.63717018e-01 4.69322521e-03 9.86496179e-01 -3.85934359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21587156000004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:224.32, Y:-68.00, Z:-38.60 [[ 9.47310537e-01 2.80317819e-01 1.54998926e-01 2.24316768e+02] [-2.75848008e-01 9.59895817e-01 -5.00789112e-02 -6.79975865e+01] [-1.62820832e-01 4.68413521e-03 9.86644534e-01 -3.85993110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24587156000004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:224.35, Y:-68.01, Z:-38.60 [[ 9.47094740e-01 2.80704902e-01 1.55615912e-01 2.24346650e+02] [-2.76198767e-01 9.59782765e-01 -5.03118694e-02 -6.80093321e+01] [-1.63480259e-01 4.66918372e-03 9.86535556e-01 -3.86047239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.38, Y:-68.02, Z:-38.61 [[ 9.46182071e-01 2.83507039e-01 1.56087309e-01 2.24377003e+02] [-2.79005948e-01 9.58960832e-01 -5.04955856e-02 -6.80214570e+01] [-1.63997470e-01 4.22873003e-03 9.86451696e-01 -3.86093439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.41, Y:-68.03, Z:-38.61 [[ 9.45499798e-01 2.85617757e-01 1.56373361e-01 2.24407652e+02] [-2.81123291e-01 9.58335681e-01 -5.06203362e-02 -6.80318740e+01] [-1.64316239e-01 3.90132370e-03 9.86399997e-01 -3.86149576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:224.44, Y:-68.04, Z:-38.62 [[ 9.44764738e-01 2.88014662e-01 1.56419771e-01 2.24437712e+02] [-2.83544484e-01 9.57619536e-01 -5.06690212e-02 -6.80425694e+01] [-1.64384050e-01 3.51834110e-03 9.86390139e-01 -3.86203695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36587156000004 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:224.47, Y:-68.05, Z:-38.63 [[ 9.43315231e-01 2.92974205e-01 1.55956693e-01 2.24467702e+02] [-2.88592311e-01 9.56116593e-01 -5.05523368e-02 -6.80549288e+01] [-1.63923313e-01 2.67888672e-03 9.86469448e-01 -3.86267584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39587156000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:224.50, Y:-68.07, Z:-38.63 [[ 9.42469939e-01 2.95461461e-01 1.56374354e-01 2.24497159e+02] [-2.91084242e-01 9.55351926e-01 -5.07214109e-02 -6.80650159e+01] [-1.64378762e-01 2.28529484e-03 9.86394647e-01 -3.86319028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42587156000002 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:224.52, Y:-68.07, Z:-38.64 [[ 9.41404682e-01 2.99359365e-01 1.55374369e-01 2.24524763e+02] [-2.95085661e-01 9.54139050e-01 -5.04294092e-02 -6.80744116e+01] [-1.63345269e-01 1.62573353e-03 9.86567626e-01 -3.86377183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:224.55, Y:-68.08, Z:-38.64 [[ 9.40933050e-01 3.00767949e-01 1.55510889e-01 2.24552554e+02] [-2.96506092e-01 9.53696353e-01 -5.04718044e-02 -6.80841365e+01] [-1.63490468e-01 1.38066302e-03 9.86543948e-01 -3.86429212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48587156000002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:224.58, Y:-68.09, Z:-38.65 [[ 9.40416181e-01 3.02688191e-01 1.54910509e-01 2.24580614e+02] [-2.98485948e-01 9.53089072e-01 -5.02728450e-02 -6.80942900e+01] [-1.62860510e-01 1.03878660e-03 9.86648557e-01 -3.86478027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.61, Y:-68.10, Z:-38.65 [[ 9.40268335e-01 3.03153240e-01 1.54898582e-01 2.24608351e+02] [-2.98957870e-01 9.52941338e-01 -5.02692502e-02 -6.81033788e+01] [-1.62848548e-01 9.58434080e-04 9.86650613e-01 -3.86528307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:224.64, Y:-68.11, Z:-38.66 [[ 9.40300968e-01 3.03399476e-01 1.54216886e-01 2.24636732e+02] [-2.99245580e-01 9.52863022e-01 -5.00414324e-02 -6.81133161e+01] [-1.62130112e-01 9.05285934e-04 9.86768974e-01 -3.86581568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:224.66, Y:-68.13, Z:-38.66 [[ 9.40138023e-01 3.03401777e-01 1.55202641e-01 2.24664055e+02] [-2.99194250e-01 9.52862284e-01 -5.03613817e-02 -6.81250464e+01] [-1.63166475e-01 9.10912102e-04 9.86598131e-01 -3.86626374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:224.69, Y:-68.14, Z:-38.67 [[ 9.40083941e-01 3.03450701e-01 1.55434411e-01 2.24691985e+02] [-2.99231525e-01 9.52846713e-01 -5.04344697e-02 -6.81352880e+01] [-1.63409543e-01 9.01759137e-04 9.86557909e-01 -3.86671367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.72, Y:-68.15, Z:-38.67 [[ 9.40082143e-01 3.03550968e-01 1.55249395e-01 2.24720385e+02] [-2.99343259e-01 9.52814793e-01 -5.03744369e-02 -6.81463150e+01] [-1.63215130e-01 8.83248558e-04 9.86590108e-01 -3.86720796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.75, Y:-68.16, Z:-38.68 [[ 9.40107974e-01 3.03485567e-01 1.55220835e-01 2.24747473e+02] [-2.99278517e-01 9.52835616e-01 -5.03652532e-02 -6.81565210e+01] [-1.63185067e-01 8.94514831e-04 9.86595071e-01 -3.86771048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.78, Y:-68.17, Z:-38.68 [[ 9.40098311e-01 3.03387824e-01 1.55470232e-01 2.24775042e+02] [-2.99166144e-01 9.52866726e-01 -5.04442318e-02 -6.81658494e+01] [-1.63446576e-01 9.11107541e-04 9.86551766e-01 -3.86821109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72587156000003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:224.80, Y:-68.18, Z:-38.69 [[ 9.39887036e-01 3.03929339e-01 1.55689807e-01 2.24802506e+02] [-2.99703687e-01 9.52694229e-01 -5.05114445e-02 -6.81750997e+01] [-1.63676691e-01 8.14242479e-04 9.86513699e-01 -3.86869169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:224.83, Y:-68.19, Z:-38.69 [[ 9.39827784e-01 3.04183043e-01 1.55551961e-01 2.24829687e+02] [-2.99969037e-01 9.52613295e-01 -5.04627261e-02 -6.81850923e+01] [-1.63530772e-01 7.65500096e-04 9.86537937e-01 -3.86919924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.86, Y:-68.20, Z:-38.70 [[ 9.39724402e-01 3.04449878e-01 1.55654492e-01 2.24856391e+02] [-3.00234571e-01 9.52528089e-01 -5.04920047e-02 -6.81976315e+01] [-1.63637561e-01 7.15709094e-04 9.86520267e-01 -3.86969712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.88, Y:-68.21, Z:-38.70 [[ 9.39680379e-01 3.04571513e-01 1.55682299e-01 2.24884076e+02] [-3.00357007e-01 9.52489221e-01 -5.04970530e-02 -6.82082817e+01] [-1.63665675e-01 6.90820743e-04 9.86515621e-01 -3.87023650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.91, Y:-68.22, Z:-38.71 [[ 9.39776276e-01 3.04575661e-01 1.55094225e-01 2.24909675e+02] [-3.00393848e-01 9.52487900e-01 -5.03024507e-02 -6.82199371e+01] [-1.63046274e-01 6.83698772e-04 9.86618186e-01 -3.87073273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.94, Y:-68.23, Z:-38.71 [[ 9.39779712e-01 3.04564148e-01 1.55096009e-01 2.24937963e+02] [-3.00383088e-01 9.52491584e-01 -5.02969473e-02 -6.82290726e+01] [-1.63046291e-01 6.79832375e-04 9.86618186e-01 -3.87124539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.96, Y:-68.24, Z:-38.72 [[ 9.39782053e-01 3.04650663e-01 1.54911805e-01 2.24964968e+02] [-3.00481073e-01 9.52463928e-01 -5.02353425e-02 -6.82394493e+01] [-1.62852137e-01 6.62207854e-04 9.86650264e-01 -3.87175679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93587156000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:224.99, Y:-68.25, Z:-38.72 [[ 9.39615253e-01 3.05544815e-01 1.54160770e-01 2.24990691e+02] [-3.01428404e-01 9.52177565e-01 -4.99880234e-02 -6.82501556e+01] [-1.62062008e-01 5.01074485e-04 9.86780449e-01 -3.87224039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:225.02, Y:-68.26, Z:-38.73 [[ 9.39353525e-01 3.06253883e-01 1.54348676e-01 2.25016141e+02] [-3.02137794e-01 9.51949799e-01 -5.00433217e-02 -6.82598890e+01] [-1.62258153e-01 3.73802174e-04 9.86748272e-01 -3.87274606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.04, Y:-68.27, Z:-38.73 [[ 9.39056498e-01 3.07188053e-01 1.54299687e-01 2.25042970e+02] [-3.03088714e-01 9.51648811e-01 -5.00177219e-02 -6.82703473e+01] [-1.62203961e-01 2.02972999e-04 9.86757232e-01 -3.87324024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.07, Y:-68.28, Z:-38.74 [[ 9.38169670e-01 3.10082432e-01 1.53904372e-01 2.25068400e+02] [-3.06044095e-01 9.50709626e-01 -4.98820491e-02 -6.82808325e+01] [-1.61785915e-01 -3.03698589e-04 9.86825833e-01 -3.87370137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:-68.29, Z:-38.74 [[ 9.37560723e-01 3.11768909e-01 1.54207774e-01 2.25095704e+02] [-3.07738759e-01 9.50157766e-01 -4.99707449e-02 -6.82899742e+01] [-1.62101039e-01 -6.05101187e-04 9.86773980e-01 -3.87415476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:225.12, Y:-68.30, Z:-38.75 [[ 9.36102014e-01 3.15635819e-01 1.55200030e-01 2.25121548e+02] [-3.11607267e-01 9.48879532e-01 -5.02846423e-02 -6.82996544e+01] [-1.63137766e-01 -1.28990229e-03 9.86602456e-01 -3.87469098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11587156000004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:225.15, Y:-68.31, Z:-38.75 [[ 9.35412172e-01 3.17463575e-01 1.55630805e-01 2.25147596e+02] [-3.13439184e-01 9.48269079e-01 -5.04145943e-02 -6.83090070e+01] [-1.63584677e-01 -1.62236728e-03 9.86527963e-01 -3.87512405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14587156000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:225.17, Y:-68.32, Z:-38.76 [[ 9.34668984e-01 3.19424063e-01 1.56083818e-01 2.25173257e+02] [-3.15404765e-01 9.47609807e-01 -5.05518321e-02 -6.83183203e+01] [-1.64054028e-01 -1.98035033e-03 9.86449367e-01 -3.87557405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.20, Y:-68.33, Z:-38.76 [[ 9.33596123e-01 3.22489684e-01 1.56200776e-01 2.25199840e+02] [-3.18508794e-01 9.46569593e-01 -5.05781947e-02 -6.83271720e+01] [-1.64165851e-01 -2.53171422e-03 9.86429503e-01 -3.87607247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20587156000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:225.23, Y:-68.34, Z:-38.77 [[ 9.33279688e-01 3.23760552e-01 1.55461023e-01 2.25225881e+02] [-3.19836270e-01 9.46135058e-01 -5.03310319e-02 -6.83360938e+01] [-1.63382326e-01 -2.74914393e-03 9.86558999e-01 -3.87658047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23587156000002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:225.25, Y:-68.35, Z:-38.77 [[ 9.32781111e-01 3.25385734e-01 1.55059743e-01 2.25252588e+02] [-3.21505679e-01 9.45576498e-01 -5.01914825e-02 -6.83451540e+01] [-1.62952441e-01 -3.03492115e-03 9.86629257e-01 -3.87714794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.28, Y:-68.35, Z:-38.78 [[ 9.32655836e-01 3.25884138e-01 1.54766342e-01 2.25279098e+02] [-3.22026874e-01 9.45404556e-01 -5.00890924e-02 -6.83536985e+01] [-1.62640046e-01 -3.12303720e-03 9.86680527e-01 -3.87766743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:225.30, Y:-68.36, Z:-38.78 [[ 9.32459990e-01 3.26521858e-01 1.54602207e-01 2.25304288e+02] [-3.22683370e-01 9.45184092e-01 -5.00247362e-02 -6.83624767e+01] [-1.62461717e-01 -3.24149621e-03 9.86709523e-01 -3.87812130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32587156000002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:225.33, Y:-68.37, Z:-38.79 [[ 9.32123570e-01 3.27421192e-01 1.54728837e-01 2.25330148e+02] [-3.23590852e-01 9.44872324e-01 -5.00524837e-02 -6.83726881e+01] [-1.62587240e-01 -3.41373647e-03 9.86688267e-01 -3.87860750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35587156000003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:225.36, Y:-68.38, Z:-38.79 [[ 9.31966957e-01 3.27947958e-01 1.54556556e-01 2.25357080e+02] [-3.24135264e-01 9.44689261e-01 -4.99853161e-02 -6.83819396e+01] [-1.62400501e-01 -3.51256718e-03 9.86718673e-01 -3.87903215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:225.38, Y:-68.39, Z:-38.80 [[ 9.31643835e-01 3.28514108e-01 1.55300502e-01 2.25384127e+02] [-3.24673546e-01 9.44492062e-01 -5.02178642e-02 -6.83903699e+01] [-1.63177369e-01 -3.63680122e-03 9.86590047e-01 -3.87951886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.41, Y:-68.40, Z:-38.80 [[ 9.30977399e-01 3.30330282e-01 1.55444481e-01 2.25410980e+02] [-3.26508990e-01 9.43857072e-01 -5.02564122e-02 -6.83970958e+01] [-1.63318588e-01 -3.96643660e-03 9.86565409e-01 -3.87998241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:225.44, Y:-68.40, Z:-38.80 [[ 9.30598409e-01 3.31479365e-01 1.55267613e-01 2.25437665e+02] [-3.27684326e-01 9.43453242e-01 -5.01892761e-02 -6.84041797e+01] [-1.63124442e-01 -4.17270251e-03 9.86596678e-01 -3.88044277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.46, Y:-68.41, Z:-38.81 [[ 9.29584107e-01 3.34498827e-01 1.54867440e-01 2.25464499e+02] [-3.30766758e-01 9.42384446e-01 -5.00490584e-02 -6.84091214e+01] [-1.62686017e-01 -4.70019170e-03 9.86666695e-01 -3.88086398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:225.49, Y:-68.42, Z:-38.81 [[ 9.29086996e-01 3.36014124e-01 1.54569928e-01 2.25491864e+02] [-3.32319512e-01 9.41843841e-01 -4.99391837e-02 -6.84153455e+01] [-1.62361005e-01 -4.96875678e-03 9.86718914e-01 -3.88135205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:225.52, Y:-68.42, Z:-38.82 [[ 9.28173259e-01 3.38663072e-01 1.54278079e-01 2.25519404e+02] [-3.35020634e-01 9.40892031e-01 -4.98333407e-02 -6.84200184e+01] [-1.62035727e-01 -5.43236542e-03 9.86769939e-01 -3.88179212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.55, Y:-68.43, Z:-38.82 [[ 9.27887696e-01 3.39332984e-01 1.54523623e-01 2.25545265e+02] [-3.35689994e-01 9.40649833e-01 -4.99011072e-02 -6.84263910e+01] [-1.62285711e-01 -5.56941050e-03 9.86728093e-01 -3.88225438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.57, Y:-68.43, Z:-38.83 [[ 9.27882704e-01 3.39362785e-01 1.54488148e-01 2.25572268e+02] [-3.35724119e-01 9.40638982e-01 -4.98760694e-02 -6.84327680e+01] [-1.62243656e-01 -5.58625518e-03 9.86734914e-01 -3.88267672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.60, Y:-68.44, Z:-38.83 [[ 9.28352285e-01 3.37679495e-01 1.55353128e-01 2.25601468e+02] [-3.33978399e-01 9.41246039e-01 -5.01430329e-02 -6.84350313e+01] [-1.63157791e-01 -5.33418992e-03 9.86585567e-01 -3.88312725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:225.63, Y:-68.44, Z:-38.84 [[ 9.29001211e-01 3.35893339e-01 1.55346112e-01 2.25627896e+02] [-3.32169092e-01 9.41886611e-01 -5.01328947e-02 -6.84401865e+01] [-1.63157728e-01 -5.02765701e-03 9.86587187e-01 -3.88360007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68587156000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:225.65, Y:-68.44, Z:-38.84 [[ 9.30853682e-01 3.30500788e-01 1.55822499e-01 2.25654022e+02] [-3.26680762e-01 9.43796776e-01 -5.02725086e-02 -6.84441896e+01] [-1.63679876e-01 -4.10786296e-03 9.86504954e-01 -3.88406490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71587156000004 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:225.68, Y:-68.45, Z:-38.85 [[ 9.31713778e-01 3.27497406e-01 1.57018742e-01 2.25680789e+02] [-3.23579020e-01 9.44845117e-01 -5.06391398e-02 -6.84502835e+01] [-1.64942578e-01 -3.62678620e-03 9.86296503e-01 -3.88456571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.71, Y:-68.46, Z:-38.85 [[ 9.32645412e-01 3.24543427e-01 1.57620114e-01 2.25707737e+02] [-3.20554899e-01 9.45865625e-01 -5.08210258e-02 -6.84564848e+01] [-1.65581078e-01 -3.12790326e-03 9.86191220e-01 -3.88505215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:225.73, Y:-68.46, Z:-38.86 [[ 9.34829893e-01 3.18626961e-01 1.56747988e-01 2.25734174e+02] [-3.14601940e-01 9.47877915e-01 -5.05279907e-02 -6.84613856e+01] [-1.64677536e-01 -2.07814506e-03 9.86345269e-01 -3.88554848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.76, Y:-68.47, Z:-38.86 [[ 9.35863321e-01 3.15617373e-01 1.56670094e-01 2.25760830e+02] [-3.11556780e-01 9.48885260e-01 -5.04889647e-02 -6.84682624e+01] [-1.64597138e-01 -1.56085988e-03 9.86359643e-01 -3.88609109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.79, Y:-68.47, Z:-38.87 [[ 9.37807341e-01 3.10222126e-01 1.55819203e-01 2.25787887e+02] [-3.06133692e-01 9.50663898e-01 -5.02027439e-02 -6.84725975e+01] [-1.63705693e-01 -6.21006201e-04 9.86509027e-01 -3.88659791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.82, Y:-68.48, Z:-38.87 [[ 9.38746475e-01 3.07642076e-01 1.55278485e-01 2.25815521e+02] [-3.03548709e-01 9.51502139e-01 -5.00186002e-02 -6.84796239e+01] [-1.63135637e-01 -1.79799105e-04 9.86603635e-01 -3.88713631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89587156000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.84, Y:-68.49, Z:-38.88 [[ 9.40536679e-01 3.02601749e-01 1.54346806e-01 2.25842546e+02] [-2.98491452e-01 9.53116842e-01 -4.97105448e-02 -6.84851795e+01] [-1.62153038e-01 6.83388489e-04 9.86765385e-01 -3.88764899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.87, Y:-68.49, Z:-38.88 [[ 9.41328398e-01 3.00236868e-01 1.54138476e-01 2.25869790e+02] [-2.96107875e-01 9.53864066e-01 -4.96333458e-02 -6.84921351e+01] [-1.61928913e-01 1.07966141e-03 9.86801835e-01 -3.88812539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95587156000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:225.90, Y:-68.50, Z:-38.89 [[ 9.42634999e-01 2.96031927e-01 1.54286607e-01 2.25896463e+02] [-2.91840210e-01 9.55176356e-01 -4.96731472e-02 -6.84976256e+01] [-1.62075757e-01 1.79661117e-03 9.86776683e-01 -3.88860822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:225.92, Y:-68.51, Z:-38.89 [[ 9.42912276e-01 2.94542655e-01 1.55438294e-01 2.25923582e+02] [-2.90269239e-01 9.55636116e-01 -5.00338129e-02 -6.85057746e+01] [-1.63279539e-01 2.05854124e-03 9.86577698e-01 -3.88903745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:225.95, Y:-68.51, Z:-38.89 [[ 9.43346514e-01 2.92887746e-01 1.55929864e-01 2.25950914e+02] [-2.88565921e-01 9.56143959e-01 -5.01840610e-02 -6.85135946e+01] [-1.63789693e-01 2.34491438e-03 9.86492492e-01 -3.88947306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.98, Y:-68.52, Z:-38.90 [[ 9.44037426e-01 2.90263110e-01 1.56654606e-01 2.25977943e+02] [-2.85866140e-01 9.56942764e-01 -5.04092896e-02 -6.85212432e+01] [-1.64541449e-01 2.80600832e-03 9.86366178e-01 -3.88994573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.01, Y:-68.53, Z:-38.91 [[ 9.44459795e-01 2.88899567e-01 1.56629297e-01 2.26005523e+02] [-2.84486399e-01 9.57354592e-01 -5.03951775e-02 -6.85301976e+01] [-1.64508922e-01 3.03731427e-03 9.86370919e-01 -3.89050872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:226.03, Y:-68.54, Z:-38.91 [[ 9.45301918e-01 2.86616039e-01 1.55741869e-01 2.26031587e+02] [-2.82222959e-01 9.58039462e-01 -5.01058060e-02 -6.85400498e+01] [-1.63567984e-01 3.41118332e-03 9.86526167e-01 -3.89112468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.06, Y:-68.55, Z:-38.92 [[ 9.45724888e-01 2.85667004e-01 1.54915459e-01 2.26060079e+02] [-2.81162028e-01 9.58318769e-01 -5.07252414e-02 -6.85493943e+01] [-1.62948919e-01 4.41577878e-03 9.86624625e-01 -3.89165628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:226.09, Y:-68.56, Z:-38.92 [[ 9.45994980e-01 2.84939765e-01 1.54605393e-01 2.26088218e+02] [-2.80604387e-01 9.58538734e-01 -4.96454878e-02 -6.85594659e+01] [-1.62341231e-01 3.58143090e-03 9.86728178e-01 -3.89216959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.11, Y:-68.57, Z:-38.93 [[ 9.45768241e-01 2.85698973e-01 1.54591501e-01 2.26114169e+02] [-2.81408135e-01 9.58313895e-01 -4.94362142e-02 -6.85690350e+01] [-1.62271059e-01 3.25189530e-03 9.86740862e-01 -3.89270543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.14, Y:-68.58, Z:-38.93 [[ 9.45684372e-01 2.86082280e-01 1.54395590e-01 2.26141028e+02] [-2.81757323e-01 9.58198742e-01 -4.96787774e-02 -6.85782025e+01] [-1.62153878e-01 3.47835530e-03 9.86759353e-01 -3.89322099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:226.17, Y:-68.59, Z:-38.94 [[ 9.45477973e-01 2.86763187e-01 1.54396495e-01 2.26167536e+02] [-2.82448441e-01 9.57995628e-01 -4.96714653e-02 -6.85874375e+01] [-1.62155115e-01 3.35422687e-03 9.86759580e-01 -3.89367560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.19, Y:-68.60, Z:-38.94 [[ 9.44652176e-01 2.88898190e-01 1.55467367e-01 2.26192949e+02] [-2.84552873e-01 9.57355119e-01 -5.00083748e-02 -6.85973835e+01] [-1.63284809e-01 3.00183396e-03 9.86574407e-01 -3.89415593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:226.22, Y:-68.61, Z:-38.95 [[ 9.44252217e-01 2.89980866e-01 1.55880876e-01 2.26219751e+02] [-2.85628454e-01 9.57028309e-01 -5.01318500e-02 -6.86071174e+01] [-1.63719688e-01 2.81309677e-03 9.86502889e-01 -3.89460088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.25, Y:-68.62, Z:-38.95 [[ 9.43385858e-01 2.92228015e-01 1.56926448e-01 2.26250074e+02] [-2.87848904e-01 9.56345584e-01 -5.04592190e-02 -6.86193712e+01] [-1.64821513e-01 2.43140764e-03 9.86320413e-01 -3.89519763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:226.28, Y:-68.63, Z:-38.96 [[ 9.43033042e-01 2.93302743e-01 1.57041975e-01 2.26280002e+02] [-2.88926324e-01 9.56016900e-01 -5.05298583e-02 -6.86305429e+01] [-1.64955328e-01 2.27776544e-03 9.86298409e-01 -3.89581177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40587156000004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:226.31, Y:-68.64, Z:-38.96 [[ 9.42871348e-01 2.94056954e-01 1.56601817e-01 2.26308731e+02] [-2.89710338e-01 9.55785436e-01 -5.04194471e-02 -6.86415813e+01] [-1.64503925e-01 2.16988676e-03 9.86374042e-01 -3.89638248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.34, Y:-68.65, Z:-38.97 [[ 9.42509219e-01 2.95360965e-01 1.56327450e-01 2.26336531e+02] [-2.91042972e-01 9.55383713e-01 -5.03582145e-02 -6.86539168e+01] [-1.64226551e-01 1.96507577e-03 9.86420690e-01 -3.89689145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.37, Y:-68.67, Z:-38.97 [[ 9.42226546e-01 2.96333339e-01 1.56191192e-01 2.26366649e+02] [-2.92035698e-01 9.55082888e-01 -5.03172695e-02 -6.86651321e+01] [-1.64086219e-01 1.79686327e-03 9.86444364e-01 -3.89744881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:226.40, Y:-68.68, Z:-38.98 [[ 9.41654981e-01 2.98021690e-01 1.56425602e-01 2.26395778e+02] [-2.93728590e-01 9.54557860e-01 -5.04262546e-02 -6.86782082e+01] [-1.64345405e-01 1.53746231e-03 9.86401654e-01 -3.89799990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.43, Y:-68.69, Z:-38.99 [[ 9.41249274e-01 2.99325413e-01 1.56378072e-01 2.26426587e+02] [-2.95047633e-01 9.54150147e-01 -5.04419617e-02 -6.86898806e+01] [-1.64306721e-01 1.33947990e-03 9.86408388e-01 -3.89851624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55587156000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:226.46, Y:-68.70, Z:-38.99 [[ 9.40970440e-01 3.00279612e-01 1.56226713e-01 2.26456254e+02] [-2.96017675e-01 9.53850463e-01 -5.04264877e-02 -6.87006909e+01] [-1.64158969e-01 1.20396583e-03 9.86433162e-01 -3.89905776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.48, Y:-68.71, Z:-39.00 [[ 9.40380632e-01 3.02276712e-01 1.55926445e-01 2.26483796e+02] [-2.98053181e-01 9.53219810e-01 -5.03616376e-02 -6.87125592e+01] [-1.63855327e-01 8.84735498e-04 9.86483983e-01 -3.89956335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.51, Y:-68.72, Z:-39.00 [[ 9.39575338e-01 3.04885399e-01 1.55701886e-01 2.26512310e+02] [-3.00709681e-01 9.52388948e-01 -5.02889511e-02 -6.87242978e+01] [-1.63621123e-01 4.29193715e-04 9.86523159e-01 -3.90010049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64587156000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.54, Y:-68.73, Z:-39.01 [[ 9.39235489e-01 3.06122709e-01 1.55324124e-01 2.26540074e+02] [-3.01983453e-01 9.51992038e-01 -5.01712536e-02 -6.87340477e+01] [-1.63225890e-01 2.17306540e-04 9.86588699e-01 -3.90060437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.57, Y:-68.74, Z:-39.01 [[ 9.38800093e-01 3.07425442e-01 1.55383344e-01 2.26569955e+02] [-3.03301271e-01 9.51572172e-01 -5.01870649e-02 -6.87447782e+01] [-1.63287246e-01 -1.23444171e-05 9.86578570e-01 -3.90113579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.60, Y:-68.75, Z:-39.02 [[ 9.38366919e-01 3.08598839e-01 1.55673642e-01 2.26599005e+02] [-3.04470198e-01 9.51192263e-01 -5.03108086e-02 -6.87547420e+01] [-1.63601421e-01 -1.87986023e-04 9.86526502e-01 -3.90169986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.63, Y:-68.77, Z:-39.02 [[ 9.37862117e-01 3.10449048e-01 1.55035601e-01 2.26628452e+02] [-3.06376910e-01 9.50589893e-01 -5.01202987e-02 -6.87667405e+01] [-1.62935074e-01 -4.93398728e-04 9.86636670e-01 -3.90238539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.66, Y:-68.78, Z:-39.03 [[ 9.37847886e-01 3.10496416e-01 1.55026830e-01 2.26658293e+02] [-3.06420438e-01 9.50574433e-01 -5.01474123e-02 -6.87764333e+01] [-1.62935133e-01 -4.72744617e-04 9.86636670e-01 -3.90292636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.69, Y:-68.79, Z:-39.03 [[ 9.37404537e-01 3.12256091e-01 1.54171554e-01 2.26686099e+02] [-3.08247614e-01 9.49997656e-01 -4.98784777e-02 -6.87873413e+01] [-1.62037473e-01 -7.66702239e-04 9.86784308e-01 -3.90348533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.71, Y:-68.80, Z:-39.04 [[ 9.37171639e-01 3.13122198e-01 1.53830452e-01 2.26714521e+02] [-3.09141411e-01 9.49712415e-01 -4.97786716e-02 -6.87965853e+01] [-1.61681497e-01 -9.04203766e-04 9.86842579e-01 -3.90398291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:226.74, Y:-68.81, Z:-39.04 [[ 9.36917097e-01 3.13962960e-01 1.53667215e-01 2.26741973e+02] [-3.10001866e-01 9.49434654e-01 -4.97260610e-02 -6.88055141e+01] [-1.61509121e-01 -1.04792670e-03 9.86870663e-01 -3.90447955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.77, Y:-68.81, Z:-39.05 [[ 9.36385062e-01 3.15360258e-01 1.54048448e-01 2.26768434e+02] [-3.11398786e-01 9.48971142e-01 -4.98454417e-02 -6.88148046e+01] [-1.61906803e-01 -1.29597271e-03 9.86805202e-01 -3.90492251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.80, Y:-68.82, Z:-39.05 [[ 9.36156685e-01 3.16070862e-01 1.53980100e-01 2.26795861e+02] [-3.12123488e-01 9.48734516e-01 -4.98171276e-02 -6.88241576e+01] [-1.61831978e-01 -1.42416880e-03 9.86817300e-01 -3.90537713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.82, Y:-68.83, Z:-39.06 [[ 9.35888521e-01 3.16637810e-01 1.54444728e-01 2.26821354e+02] [-3.12674715e-01 9.48545283e-01 -4.99636673e-02 -6.88335254e+01] [-1.62318204e-01 -1.53053851e-03 9.86737279e-01 -3.90587651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.85, Y:-68.84, Z:-39.06 [[ 9.35924388e-01 3.16409550e-01 1.54694980e-01 2.26847018e+02] [-3.12432093e-01 9.48621493e-01 -5.00344864e-02 -6.88432760e+01] [-1.62578372e-01 -1.50318030e-03 9.86694488e-01 -3.90639513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.87, Y:-68.85, Z:-39.07 [[ 9.36074602e-01 3.15945129e-01 1.54735307e-01 2.26873566e+02] [-3.11960949e-01 9.48776382e-01 -5.00374164e-02 -6.88534120e+01] [-1.62618283e-01 -1.43261857e-03 9.86688016e-01 -3.90689508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.90, Y:-68.86, Z:-39.07 [[ 9.36308503e-01 3.15219234e-01 1.54800585e-01 2.26899277e+02] [-3.11223113e-01 9.49017969e-01 -5.00506556e-02 -6.88631059e+01] [-1.62685466e-01 -1.31466547e-03 9.86677106e-01 -3.90731634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:-68.87, Z:-39.08 [[ 9.36284365e-01 3.15134744e-01 1.55118284e-01 2.26926065e+02] [-3.11122604e-01 9.49046032e-01 -5.01433400e-02 -6.88716028e+01] [-1.63016300e-01 -1.31237905e-03 9.86622503e-01 -3.90781117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.95, Y:-68.88, Z:-39.08 [[ 9.36344871e-01 3.14938176e-01 1.55152273e-01 2.26954410e+02] [-3.10922951e-01 9.49111316e-01 -5.01460706e-02 -6.88821903e+01] [-1.63049690e-01 -1.28638653e-03 9.86617020e-01 -3.90832666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.98, Y:-68.89, Z:-39.09 [[ 9.36667536e-01 3.14100430e-01 1.54902699e-01 2.26983102e+02] [-3.10099906e-01 9.49388984e-01 -4.99860452e-02 -6.88922161e+01] [-1.62763554e-01 -1.21500649e-03 9.86664355e-01 -3.90888653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:227.01, Y:-68.90, Z:-39.09 [[ 9.36382610e-01 3.15402911e-01 1.53976009e-01 2.27007577e+02] [-3.11334061e-01 9.48957630e-01 -5.05026570e-02 -6.89025291e+01] [-1.62045394e-01 -6.48166359e-04 9.86783092e-01 -3.90936300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18587156000004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:227.03, Y:-68.91, Z:-39.10 [[ 9.36216131e-01 3.15919051e-01 1.53930208e-01 2.27033135e+02] [-3.11980004e-01 9.48785050e-01 -4.97534565e-02 -6.89111421e+01] [-1.61764745e-01 -1.44315822e-03 9.86828295e-01 -3.90981784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21587156000004 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:227.06, Y:-68.92, Z:-39.10 [[ 9.35885482e-01 3.16827830e-01 1.54073004e-01 2.27060529e+02] [-3.12895259e-01 9.48481697e-01 -4.97898279e-02 -6.89199276e+01] [-1.61910228e-01 -1.61113547e-03 9.86804176e-01 -3.91027833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:227.09, Y:-68.93, Z:-39.11 [[ 9.35155523e-01 3.18931697e-01 1.54164590e-01 2.27087054e+02] [-3.15024038e-01 9.47775626e-01 -4.98118279e-02 -6.89278722e+01] [-1.62000012e-01 -1.98374570e-03 9.86788762e-01 -3.91071911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:227.12, Y:-68.94, Z:-39.11 [[ 9.34592493e-01 3.20611865e-01 1.54093816e-01 2.27116501e+02] [-3.16732165e-01 9.47207906e-01 -4.97786993e-02 -6.89372715e+01] [-1.61918522e-01 -2.28366916e-03 9.86801488e-01 -3.91130882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:227.15, Y:-68.95, Z:-39.12 [[ 9.34310425e-01 3.21301217e-01 1.54368251e-01 2.27145871e+02] [-3.17416432e-01 9.46973995e-01 -4.98704557e-02 -6.89469096e+01] [-1.62206158e-01 -2.40453294e-03 9.86753962e-01 -3.91185207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:227.17, Y:-68.96, Z:-39.12 [[ 9.34214944e-01 3.21436771e-01 1.54663639e-01 2.27173525e+02] [-3.17534177e-01 9.46927989e-01 -4.99943087e-02 -6.89555551e+01] [-1.62525338e-01 -2.40556099e-03 9.86701438e-01 -3.91230286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36587156000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:227.20, Y:-68.96, Z:-39.13 [[ 9.34135952e-01 3.21459255e-01 1.55093428e-01 2.27201159e+02] [-3.17535443e-01 9.46920324e-01 -5.01312591e-02 -6.89641922e+01] [-1.62976276e-01 -2.41824871e-03 9.86627025e-01 -3.91282913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39587156000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:227.23, Y:-68.97, Z:-39.13 [[ 9.34040029e-01 3.21481325e-01 1.55624490e-01 2.27229533e+02] [-3.17531420e-01 9.46912789e-01 -5.02987769e-02 -6.89722445e+01] [-1.63532937e-01 -2.43459415e-03 9.86534871e-01 -3.91328140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:227.26, Y:-68.98, Z:-39.14 [[ 9.33981163e-01 3.21523634e-01 1.55890155e-01 2.27256060e+02] [-3.17561407e-01 9.46898384e-01 -5.03805828e-02 -6.89806297e+01] [-1.63810684e-01 -2.45018171e-03 9.86488751e-01 -3.91378355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45587156000002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:227.28, Y:-68.99, Z:-39.14 [[ 9.33961665e-01 3.21509627e-01 1.56035789e-01 2.27284196e+02] [-3.17540793e-01 9.46903125e-01 -5.04213959e-02 -6.89899205e+01] [-1.63961740e-01 -2.45607717e-03 9.86463641e-01 -3.91425927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:227.31, Y:-69.00, Z:-39.15 [[ 9.34004555e-01 3.21416267e-01 1.55971389e-01 2.27311642e+02] [-3.17450103e-01 9.46934854e-01 -5.03965718e-02 -6.89970064e+01] [-1.63893022e-01 -2.44250586e-03 9.86475094e-01 -3.91476147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51587156000002 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:227.34, Y:-69.00, Z:-39.15 [[ 9.34108201e-01 3.21244740e-01 1.55703839e-01 2.27338658e+02] [-3.17290876e-01 9.46993131e-01 -5.03041738e-02 -6.90041060e+01] [-1.63610417e-01 -2.41386610e-03 9.86522075e-01 -3.91521353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54587156000002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:227.37, Y:-69.01, Z:-39.16 [[ 9.34172002e-01 3.21007886e-01 1.55809525e-01 2.27365701e+02] [-3.17046983e-01 9.47073522e-01 -5.03284676e-02 -6.90118653e+01] [-1.63718911e-01 -2.38349445e-03 9.86504150e-01 -3.91572234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.39, Y:-69.02, Z:-39.16 [[ 9.34441081e-01 3.20407341e-01 1.55431660e-01 2.27393664e+02] [-3.16458802e-01 9.47277117e-01 -5.01985065e-02 -6.90197684e+01] [-1.63320825e-01 -2.28017029e-03 9.86570377e-01 -3.91620984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:227.42, Y:-69.03, Z:-39.17 [[ 9.34875601e-01 3.19306458e-01 1.55083838e-01 2.27421507e+02] [-3.15361284e-01 9.47649213e-01 -5.00822261e-02 -6.90272116e+01] [-1.62956655e-01 -2.08678699e-03 9.86631022e-01 -3.91664993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:227.45, Y:-69.04, Z:-39.17 [[ 9.35088863e-01 3.18587652e-01 1.55276293e-01 2.27449450e+02] [-3.14624166e-01 9.47891354e-01 -5.01359683e-02 -6.90356334e+01] [-1.63157756e-01 -1.97208854e-03 9.86598022e-01 -3.91709817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:227.48, Y:-69.04, Z:-39.18 [[ 9.35407094e-01 3.17566933e-01 1.55450347e-01 2.27477488e+02] [-3.13581188e-01 9.48234150e-01 -5.01880044e-02 -6.90443191e+01] [-1.63341379e-01 -1.80008930e-03 9.86567967e-01 -3.91762157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:227.51, Y:-69.05, Z:-39.18 [[ 9.36101404e-01 3.15176223e-01 1.56134912e-01 2.27505198e+02] [-3.11122703e-01 9.49032143e-01 -5.04049161e-02 -6.90523119e+01] [-1.64063481e-01 -1.39300307e-03 9.86448799e-01 -3.91804042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:227.53, Y:-69.06, Z:-39.19 [[ 9.36496531e-01 3.13849307e-01 1.56438035e-01 2.27532153e+02] [-3.09762576e-01 9.49472088e-01 -5.04965405e-02 -6.90603622e+01] [-1.64381852e-01 -1.16881358e-03 9.86396087e-01 -3.91851368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:-69.07, Z:-39.19 [[ 9.37495018e-01 3.10930535e-01 1.56285935e-01 2.27558832e+02] [-3.06812497e-01 9.50432409e-01 -5.04413239e-02 -6.90696208e+01] [-1.64222965e-01 -6.61988005e-04 9.86423023e-01 -3.91902048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:227.59, Y:-69.08, Z:-39.19 [[ 9.38086844e-01 3.09151176e-01 1.56264595e-01 2.27585359e+02] [-3.05010749e-01 9.51012841e-01 -5.04283628e-02 -6.90791317e+01] [-1.64199624e-01 -3.56197356e-04 9.86427066e-01 -3.91946971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81587156000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:227.62, Y:-69.09, Z:-39.20 [[ 9.39052985e-01 3.05947024e-01 1.56767055e-01 2.27615172e+02] [-3.01736550e-01 9.52048517e-01 -5.05833451e-02 -6.90914240e+01] [-1.64725666e-01 1.98091001e-04 9.86339402e-01 -3.91999652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84587156000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:227.65, Y:-69.10, Z:-39.21 [[ 9.39539877e-01 3.04455817e-01 1.56752912e-01 2.27645963e+02] [-3.00220690e-01 9.52526335e-01 -5.06075006e-02 -6.91024301e+01] [-1.64719024e-01 4.87297627e-04 9.86340411e-01 -3.92054810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87587156000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:227.68, Y:-69.11, Z:-39.21 [[ 9.40045767e-01 3.02900431e-01 1.56733163e-01 2.27676088e+02] [-2.98639374e-01 9.53021879e-01 -5.06341999e-02 -6.91138890e+01] [-1.64707254e-01 7.91771651e-04 9.86342179e-01 -3.92105707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90587156000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:227.70, Y:-69.13, Z:-39.22 [[ 9.40843859e-01 3.00311312e-01 1.56926570e-01 2.27704403e+02] [-2.95998302e-01 9.53840385e-01 -5.07299276e-02 -6.91278617e+01] [-1.64917671e-01 1.27894278e-03 9.86306507e-01 -3.92163646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:227.73, Y:-69.14, Z:-39.22 [[ 9.41032725e-01 2.99451629e-01 1.57436121e-01 2.27733898e+02] [-2.95093188e-01 9.54110359e-01 -5.09257666e-02 -6.91396278e+01] [-1.65461238e-01 1.46448612e-03 9.86215207e-01 -3.92216005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.76, Y:-69.15, Z:-39.23 [[ 9.41220604e-01 2.98900099e-01 1.57361065e-01 2.27762979e+02] [-2.94533042e-01 9.54283082e-01 -5.09321692e-02 -6.91544609e+01] [-1.65390633e-01 1.59037384e-03 9.86226855e-01 -3.92266364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:227.79, Y:-69.17, Z:-39.23 [[ 9.41157885e-01 2.99142917e-01 1.57274759e-01 2.27792702e+02] [-2.94778536e-01 9.54207013e-01 -5.09371374e-02 -6.91667387e+01] [-1.65310162e-01 1.57866534e-03 9.86240365e-01 -3.92318830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02587156000004 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:227.82, Y:-69.18, Z:-39.24 [[ 9.40719434e-01 3.01059063e-01 1.56238239e-01 2.27822490e+02] [-2.96775406e-01 9.53604673e-01 -5.06210080e-02 -6.91811049e+01] [-1.64229428e-01 1.25249894e-03 9.86421374e-01 -3.92379603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05587156000004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:227.85, Y:-69.19, Z:-39.24 [[ 9.40284855e-01 3.02426956e-01 1.56212442e-01 2.27852542e+02] [-2.98158146e-01 9.53171992e-01 -5.06445891e-02 -6.91930187e+01] [-1.64213613e-01 1.04432817e-03 9.86424249e-01 -3.92427682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.88, Y:-69.21, Z:-39.25 [[ 9.39787817e-01 3.04096575e-01 1.55961954e-01 2.27882935e+02] [-2.99859071e-01 9.52640888e-01 -5.05952220e-02 -6.92058994e+01] [-1.63961568e-01 7.82166561e-04 9.86466417e-01 -3.92484214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11587156000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:227.91, Y:-69.22, Z:-39.25 [[ 9.38730168e-01 3.07756594e-01 1.55150092e-01 2.27912211e+02] [-3.03607778e-01 9.51465107e-01 -5.03633556e-02 -6.92209405e+01] [-1.63119554e-01 1.72826443e-04 9.86606295e-01 -3.92549300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14587156000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:227.94, Y:-69.23, Z:-39.26 [[ 9.38076957e-01 3.09812756e-01 1.55008642e-01 2.27940509e+02] [-3.05694189e-01 9.50797577e-01 -5.03490838e-02 -6.92320428e+01] [-1.62980629e-01 -1.53925640e-04 9.86629257e-01 -3.92596915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:227.97, Y:-69.25, Z:-39.27 [[ 9.36705826e-01 3.13892512e-01 1.55092509e-01 2.27968226e+02] [-3.09820551e-01 9.49458155e-01 -5.04027603e-02 -6.92452995e+01] [-1.63074896e-01 -8.38287334e-04 9.86613336e-01 -3.92650143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:228.00, Y:-69.26, Z:-39.27 [[ 9.36035269e-01 3.15925195e-01 1.55013698e-01 2.27995722e+02] [-3.11884388e-01 9.48783358e-01 -5.03812236e-02 -6.92565999e+01] [-1.62991115e-01 -1.18775015e-03 9.86626822e-01 -3.92701597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23587156000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.02, Y:-69.27, Z:-39.27 [[ 9.34785739e-01 3.19736083e-01 1.54739976e-01 2.28022056e+02] [-3.15761395e-01 9.47504840e-01 -5.02923473e-02 -6.92688644e+01] [-1.62697154e-01 -1.84834172e-03 9.86674323e-01 -3.92742874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26587156000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.05, Y:-69.28, Z:-39.28 [[ 9.33982541e-01 3.22051732e-01 1.54787905e-01 2.28052812e+02] [-3.18106702e-01 9.46719385e-01 -5.03043961e-02 -6.92804002e+01] [-1.62741328e-01 -2.25564210e-03 9.86666191e-01 -3.92800016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:228.08, Y:-69.29, Z:-39.29 [[ 9.33176963e-01 3.24364583e-01 1.54817226e-01 2.28082833e+02] [-3.20444006e-01 9.45928495e-01 -5.03479960e-02 -6.92914406e+01] [-1.62777133e-01 -2.62666224e-03 9.86659367e-01 -3.92853151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32587156000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:228.11, Y:-69.30, Z:-39.29 [[ 9.31825950e-01 3.28258117e-01 1.54748208e-01 2.28109619e+02] [-3.24388791e-01 9.44582393e-01 -5.03588658e-02 -6.93013378e+01] [-1.62703139e-01 -3.27288603e-03 9.86669639e-01 -3.92898679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35587156000003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:228.14, Y:-69.31, Z:-39.29 [[ 9.30691890e-01 3.31525454e-01 1.54607499e-01 2.28135176e+02] [-3.27709137e-01 9.43438430e-01 -5.03055688e-02 -6.93102053e+01] [-1.62540233e-01 -3.84730518e-03 9.86694416e-01 -3.92947591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.16, Y:-69.32, Z:-39.30 [[ 9.30191759e-01 3.32786564e-01 1.54907696e-01 2.28162518e+02] [-3.28974251e-01 9.42993328e-01 -5.03937016e-02 -6.93194785e+01] [-1.62847271e-01 -4.08483731e-03 9.86642833e-01 -3.92996544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:228.19, Y:-69.33, Z:-39.30 [[ 9.29920177e-01 3.33602921e-01 1.54782284e-01 2.28189232e+02] [-3.29809266e-01 9.42704188e-01 -5.03454201e-02 -6.93281804e+01] [-1.62709287e-01 -4.23140965e-03 9.86664980e-01 -3.93039618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:228.22, Y:-69.34, Z:-39.31 [[ 9.29526720e-01 3.34970813e-01 1.54190247e-01 2.28218326e+02] [-3.31226233e-01 9.42217946e-01 -5.01450480e-02 -6.93365396e+01] [-1.62077946e-01 -4.46069280e-03 9.86767876e-01 -3.93090918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47587156000003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:228.25, Y:-69.34, Z:-39.31 [[ 9.29371524e-01 3.35321637e-01 1.54363114e-01 2.28245758e+02] [-3.31573379e-01 9.42092834e-01 -5.02014645e-02 -6.93445963e+01] [-1.62258021e-01 -4.52688789e-03 9.86737980e-01 -3.93136907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:228.27, Y:-69.35, Z:-39.32 [[ 9.29381964e-01 3.35302592e-01 1.54341622e-01 2.28273652e+02] [-3.31555787e-01 9.42099613e-01 -5.01904367e-02 -6.93512987e+01] [-1.62234166e-01 -4.52677132e-03 9.86741903e-01 -3.93182778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:228.30, Y:-69.36, Z:-39.32 [[ 9.29486906e-01 3.35045989e-01 1.54266900e-01 2.28301106e+02] [-3.31300605e-01 9.42191090e-01 -5.01583372e-02 -6.93590576e+01] [-1.62154248e-01 -4.48719943e-03 9.86755220e-01 -3.93228951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.33, Y:-69.37, Z:-39.33 [[ 9.29919777e-01 3.34081988e-01 1.53747957e-01 2.28327707e+02] [-3.30350071e-01 9.42534157e-01 -4.99819311e-02 -6.93664477e+01] [-1.61610764e-01 -4.31146229e-03 9.86845161e-01 -3.93278550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.35, Y:-69.37, Z:-39.33 [[ 9.30126325e-01 3.33659364e-01 1.53415936e-01 2.28353598e+02] [-3.29939499e-01 9.42684184e-01 -4.98643877e-02 -6.93742219e+01] [-1.61260496e-01 -4.23779722e-03 9.86902778e-01 -3.93321209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.38, Y:-69.38, Z:-39.34 [[ 9.30302592e-01 3.33399698e-01 1.52910851e-01 2.28384513e+02] [-3.29703015e-01 9.42776261e-01 -4.96874571e-02 -6.93830646e+01] [-1.60726504e-01 -4.19079866e-03 9.86990085e-01 -3.93374379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65587156000004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:228.42, Y:-69.39, Z:-39.34 [[ 9.30805556e-01 3.32436013e-01 1.51945102e-01 2.28415076e+02] [-3.28768070e-01 9.43117469e-01 -4.94064276e-02 -6.93902236e+01] [-1.59726556e-01 -3.96692044e-03 9.87153327e-01 -3.93426558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68587156000004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:228.45, Y:-69.40, Z:-39.35 [[ 9.30775201e-01 3.32524944e-01 1.51936459e-01 2.28445666e+02] [-3.28853844e-01 9.43086172e-01 -4.94329904e-02 -6.94002742e+01] [-1.59726876e-01 -3.95388719e-03 9.87153327e-01 -3.93482086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71587156000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:228.47, Y:-69.41, Z:-39.35 [[ 9.31118346e-01 3.31333625e-01 1.52435740e-01 2.28474968e+02] [-3.27619790e-01 9.43506221e-01 -4.96113329e-02 -6.94069720e+01] [-1.60261972e-01 -3.74694277e-03 9.87067404e-01 -3.93530358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74587156000004 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:228.50, Y:-69.41, Z:-39.36 [[ 9.31487586e-01 3.30530168e-01 1.51923287e-01 2.28502365e+02] [-3.26828996e-01 9.43788616e-01 -4.94555995e-02 -6.94142529e+01] [-1.59730036e-01 -3.58565824e-03 9.87154222e-01 -3.93583632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:228.53, Y:-69.42, Z:-39.36 [[ 9.31706583e-01 3.29697550e-01 1.52388872e-01 2.28529345e+02] [-3.25963694e-01 9.44080265e-01 -4.95996282e-02 -6.94212902e+01] [-1.60220203e-01 -3.46093954e-03 9.87075229e-01 -3.93624319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:228.56, Y:-69.43, Z:-39.37 [[ 9.32522018e-01 3.27771778e-01 1.51553119e-01 2.28556843e+02] [-3.24055245e-01 9.44751776e-01 -4.93181462e-02 -6.94273608e+01] [-1.59345175e-01 -3.12132599e-03 9.87217996e-01 -3.93674196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:228.58, Y:-69.43, Z:-39.37 [[ 9.33048755e-01 3.26388917e-01 1.51295395e-01 2.28583549e+02] [-3.22668257e-01 9.45231156e-01 -4.92265995e-02 -6.94341793e+01] [-1.59076138e-01 -2.88740400e-03 9.87262096e-01 -3.93728662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86587156000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:228.61, Y:-69.44, Z:-39.38 [[ 9.34147072e-01 3.23297786e-01 1.51154855e-01 2.28611132e+02] [-3.19545410e-01 9.46294317e-01 -4.91710879e-02 -6.94396163e+01] [-1.58933884e-01 -2.36781236e-03 9.87286389e-01 -3.93777205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89587156000005 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:228.64, Y:-69.45, Z:-39.38 [[ 9.34685056e-01 3.21720960e-01 1.51193482e-01 2.28638133e+02] [-3.17947637e-01 9.46832179e-01 -4.91744260e-02 -6.94474828e+01] [-1.58975297e-01 -2.10900907e-03 9.87280308e-01 -3.93829939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92587156000002 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:228.67, Y:-69.45, Z:-39.39 [[ 9.35487280e-01 3.19264773e-01 1.51438284e-01 2.28665486e+02] [-3.15448411e-01 9.47664027e-01 -4.92462269e-02 -6.94541535e+01] [-1.59235199e-01 -1.70174710e-03 9.87239209e-01 -3.93874964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.69, Y:-69.46, Z:-39.39 [[ 9.35900764e-01 3.18209746e-01 1.51103666e-01 2.28692679e+02] [-3.14397912e-01 9.48019108e-01 -4.91296719e-02 -6.94617095e+01] [-1.58882703e-01 -1.52617958e-03 9.87296287e-01 -3.93923275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98587156000002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:228.72, Y:-69.47, Z:-39.40 [[ 9.36221668e-01 3.17334094e-01 1.50957147e-01 2.28720584e+02] [-3.13519668e-01 9.48312795e-01 -4.90740289e-02 -6.94696413e+01] [-1.58727456e-01 -1.38386536e-03 9.87321467e-01 -3.93972635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01587156000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:228.75, Y:-69.48, Z:-39.40 [[ 9.36653240e-01 3.15989183e-01 1.51101107e-01 2.28747526e+02] [-3.12150653e-01 9.48762082e-01 -4.91170145e-02 -6.94766832e+01] [-1.58879446e-01 -1.16069851e-03 9.87297308e-01 -3.94029548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:228.78, Y:-69.48, Z:-39.41 [[ 9.36809199e-01 3.15337155e-01 1.51495883e-01 2.28775822e+02] [-3.11470926e-01 9.48979113e-01 -4.92392587e-02 -6.94849300e+01] [-1.59293397e-01 -1.05877257e-03 9.87230719e-01 -3.94079367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07587156000002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:228.80, Y:-69.49, Z:-39.41 [[ 9.37103392e-01 3.13948341e-01 1.52557114e-01 2.28803655e+02] [-3.10009765e-01 9.49439701e-01 -4.95802272e-02 -6.94916056e+01] [-1.60409411e-01 -8.32396060e-04 9.87050216e-01 -3.94126199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:228.83, Y:-69.50, Z:-39.42 [[ 9.37484254e-01 3.12948392e-01 1.52271394e-01 2.28831685e+02] [-3.09012220e-01 9.49769900e-01 -4.94831743e-02 -6.95003178e+01] [-1.60108466e-01 -6.64024773e-04 9.87099204e-01 -3.94175191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.86, Y:-69.51, Z:-39.42 [[ 9.37864940e-01 3.11753988e-01 1.52377181e-01 2.28859822e+02] [-3.07797275e-01 9.50162742e-01 -4.95136558e-02 -6.95095721e+01] [-1.60219199e-01 -4.64159136e-04 9.87081351e-01 -3.94229269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:228.89, Y:-69.52, Z:-39.43 [[ 9.38834026e-01 3.09106728e-01 1.51801526e-01 2.28887225e+02] [-3.05146319e-01 9.51027355e-01 -4.93223409e-02 -6.95190184e+01] [-1.59613271e-01 -1.61850738e-05 9.87179621e-01 -3.94291837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.91, Y:-69.53, Z:-39.43 [[ 9.39672318e-01 3.06609459e-01 1.51679182e-01 2.28914163e+02] [-3.02622772e-01 9.51835317e-01 -4.92847525e-02 -6.95292668e+01] [-1.59484774e-01 4.09943043e-04 9.87200303e-01 -3.94340664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:228.94, Y:-69.54, Z:-39.44 [[ 9.39949210e-01 3.05676611e-01 1.51846278e-01 2.28940840e+02] [-3.01668550e-01 9.52135223e-01 -4.93416976e-02 -6.95392524e+01] [-1.59660793e-01 5.71443038e-04 9.87171771e-01 -3.94391378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:-69.55, Z:-39.44 [[ 9.40229789e-01 3.04963400e-01 1.51542956e-01 2.28969420e+02] [-3.00963209e-01 9.52363825e-01 -4.92370998e-02 -6.95498045e+01] [-1.59339543e-01 6.85333420e-04 9.87223602e-01 -3.94443274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28587156000003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:229.00, Y:-69.56, Z:-39.45 [[ 9.40518678e-01 3.04783955e-01 1.50104487e-01 2.28996495e+02] [-3.00857542e-01 9.52421251e-01 -4.87698763e-02 -6.95615691e+01] [-1.57826979e-01 7.08912692e-04 9.87466527e-01 -3.94496517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31587156000003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:229.02, Y:-69.57, Z:-39.46 [[ 9.40312498e-01 3.05539784e-01 1.49859422e-01 2.29024000e+02] [-3.01636075e-01 9.52179135e-01 -4.86885380e-02 -6.95711862e+01] [-1.57569300e-01 5.79432991e-04 9.87507762e-01 -3.94550381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34587156000003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:229.05, Y:-69.58, Z:-39.46 [[ 9.39298781e-01 3.08289935e-01 1.50582592e-01 2.29050221e+02] [-3.04383818e-01 9.51292438e-01 -4.89202275e-02 -6.95800557e+01] [-1.58329695e-01 1.15805896e-04 9.87386294e-01 -3.94591656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.08, Y:-69.59, Z:-39.46 [[ 9.38773999e-01 3.09810736e-01 1.50733824e-01 2.29077398e+02] [-3.05917819e-01 9.50798236e-01 -4.89591958e-02 -6.95891958e+01] [-1.58485538e-01 -1.50542577e-04 9.87361287e-01 -3.94638270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:229.10, Y:-69.60, Z:-39.47 [[ 9.38156488e-01 3.11590016e-01 1.50910787e-01 2.29104085e+02] [-3.07711942e-01 9.50216529e-01 -4.90092728e-02 -6.95988994e+01] [-1.58668725e-01 -4.58684243e-04 9.87331771e-01 -3.94689681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43587156000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:229.13, Y:-69.61, Z:-39.47 [[ 9.36951722e-01 3.14821573e-01 1.51686678e-01 2.29130143e+02] [-3.10946491e-01 9.49150326e-01 -4.92538219e-02 -6.96090929e+01] [-1.59479625e-01 -1.01798692e-03 9.87200695e-01 -3.94738819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46587156000004 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:229.16, Y:-69.62, Z:-39.48 [[ 9.36454328e-01 3.16282450e-01 1.51719161e-01 2.29157213e+02] [-3.12425927e-01 9.48664213e-01 -4.92569992e-02 -6.96186298e+01] [-1.59509663e-01 -1.27406952e-03 9.87195545e-01 -3.94786730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49587156000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:229.19, Y:-69.63, Z:-39.48 [[ 9.35441673e-01 3.19099358e-01 1.52067343e-01 2.29187438e+02] [-3.15263547e-01 9.47719618e-01 -4.93601193e-02 -6.96305426e+01] [-1.59867987e-01 -1.76777743e-03 9.87136820e-01 -3.94847772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.22, Y:-69.64, Z:-39.49 [[ 9.34907229e-01 3.20678611e-01 1.52031913e-01 2.29217170e+02] [-3.16859958e-01 9.47185941e-01 -4.93817837e-02 -6.96408067e+01] [-1.59838173e-01 -2.00543901e-03 9.87141194e-01 -3.94898238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55587156000004 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:229.25, Y:-69.65, Z:-39.49 [[ 9.34094161e-01 3.23177398e-01 1.51738156e-01 2.29245163e+02] [-3.19401028e-01 9.46335366e-01 -4.93189454e-02 -6.96501051e+01] [-1.59533952e-01 -2.39678414e-03 9.87189533e-01 -3.94946181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58587156000004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:229.27, Y:-69.66, Z:-39.50 [[ 9.33733713e-01 3.24053101e-01 1.52088597e-01 2.29271585e+02] [-3.20270243e-01 9.46035458e-01 -4.94356585e-02 -6.96587472e+01] [-1.59900984e-01 -2.54971093e-03 9.87129766e-01 -3.94992777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61587156000004 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:229.30, Y:-69.67, Z:-39.50 [[ 9.33151223e-01 3.25662244e-01 1.52226469e-01 2.29297962e+02] [-3.21895490e-01 9.45481912e-01 -4.94696567e-02 -6.96671076e+01] [-1.60037772e-01 -2.83834322e-03 9.87106810e-01 -3.95041828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64587156000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:229.32, Y:-69.67, Z:-39.51 [[ 9.32890565e-01 3.26267797e-01 1.52527106e-01 2.29324110e+02] [-3.22495850e-01 9.45272750e-01 -4.95565844e-02 -6.96748041e+01] [-1.60348434e-01 -2.95848860e-03 9.87056040e-01 -3.95093854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.35, Y:-69.68, Z:-39.52 [[ 9.32857299e-01 3.26783674e-01 1.51623514e-01 2.29354729e+02] [-3.23065441e-01 9.45094271e-01 -4.92497712e-02 -6.96844078e+01] [-1.59392535e-01 -3.04130870e-03 9.87210601e-01 -3.95151371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.38, Y:-69.69, Z:-39.52 [[ 9.32715097e-01 3.27155737e-01 1.51695984e-01 2.29384184e+02] [-3.23434199e-01 9.44965419e-01 -4.93018827e-02 -6.96948354e+01] [-1.59476853e-01 -3.07905862e-03 9.87196866e-01 -3.95212789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73587156000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:229.41, Y:-69.70, Z:-39.53 [[ 9.32803652e-01 3.26957118e-01 1.51579651e-01 2.29413251e+02] [-3.23234077e-01 9.45034365e-01 -4.92928006e-02 -6.97047555e+01] [-1.59364611e-01 -3.01520405e-03 9.87215189e-01 -3.95261892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76587156000002 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:229.44, Y:-69.71, Z:-39.53 [[ 9.33009728e-01 3.26202708e-01 1.51936305e-01 2.29440242e+02] [-3.22447469e-01 9.45295499e-01 -4.94373369e-02 -6.97137104e+01] [-1.59751299e-01 -2.86596087e-03 9.87153133e-01 -3.95308440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79587156000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:229.47, Y:-69.72, Z:-39.54 [[ 9.33162533e-01 3.25809409e-01 1.51841749e-01 2.29468578e+02] [-3.22054420e-01 9.45431321e-01 -4.94020995e-02 -6.97226050e+01] [-1.59651614e-01 -2.80111807e-03 9.87169446e-01 -3.95361014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82587156000002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:229.50, Y:-69.73, Z:-39.54 [[ 9.33371445e-01 3.25252876e-01 1.51750821e-01 2.29496996e+02] [-3.21495061e-01 9.45623210e-01 -4.93727720e-02 -6.97312664e+01] [-1.59557735e-01 -2.70400406e-03 9.87184895e-01 -3.95410753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:229.52, Y:-69.74, Z:-39.55 [[ 9.33679503e-01 3.24119608e-01 1.52279566e-01 2.29523768e+02] [-3.20321058e-01 9.46012745e-01 -4.95409461e-02 -6.97390517e+01] [-1.60115602e-01 -2.52298584e-03 9.87095045e-01 -3.95463780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:229.55, Y:-69.75, Z:-39.55 [[ 9.33885736e-01 3.23431046e-01 1.52478822e-01 2.29551601e+02] [-3.19614354e-01 9.46248663e-01 -4.95997329e-02 -6.97477703e+01] [-1.60324975e-01 -2.41393714e-03 9.87061333e-01 -3.95516794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:229.58, Y:-69.76, Z:-39.56 [[ 9.34361792e-01 3.21845651e-01 1.52916380e-01 2.29581237e+02] [-3.17986512e-01 9.46789704e-01 -4.97376546e-02 -6.97562714e+01] [-1.60787502e-01 -2.15238234e-03 9.86986700e-01 -3.95567886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94587156000003 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:229.61, Y:-69.77, Z:-39.56 [[ 9.34627397e-01 3.20886573e-01 1.53308306e-01 2.29610111e+02] [-3.16994023e-01 9.47115543e-01 -4.98691998e-02 -6.97658368e+01] [-1.61203037e-01 -1.98869638e-03 9.86919260e-01 -3.95619267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97587156000003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:229.64, Y:-69.78, Z:-39.57 [[ 9.35434709e-01 3.18185469e-01 1.54012701e-01 2.29638272e+02] [-3.14219764e-01 9.48027256e-01 -5.01025129e-02 -6.97759192e+01] [-1.61950130e-01 -1.52620505e-03 9.86797764e-01 -3.95671568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.67, Y:-69.79, Z:-39.57 [[ 9.35999600e-01 3.16632637e-01 1.53780757e-01 2.29667860e+02] [-3.12658001e-01 9.48547415e-01 -5.00277544e-02 -6.97862998e+01] [-1.61708760e-01 -1.25482601e-03 9.86837729e-01 -3.95726114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:229.70, Y:-69.80, Z:-39.58 [[ 9.37278516e-01 3.13180613e-01 1.53058442e-01 2.29697463e+02] [-3.09193159e-01 9.49693376e-01 -4.98205000e-02 -6.97977561e+01] [-1.60961404e-01 -6.28938982e-04 9.86960501e-01 -3.95783774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.73, Y:-69.81, Z:-39.58 [[ 9.37757277e-01 3.11900759e-01 1.52739010e-01 2.29727289e+02] [-3.07908650e-01 9.50114609e-01 -4.97442691e-02 -6.98081899e+01] [-1.60634840e-01 -3.81612041e-04 9.87013831e-01 -3.95841956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:-69.82, Z:-39.59 [[ 9.38381934e-01 3.10081278e-01 1.52607166e-01 2.29756400e+02] [-3.06067710e-01 9.50710050e-01 -4.97288423e-02 -6.98195240e+01] [-1.60505149e-01 -4.34786598e-05 9.87035002e-01 -3.95895976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12587156000004 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:229.79, Y:-69.83, Z:-39.59 [[ 9.38595894e-01 3.09812469e-01 1.51835375e-01 2.29785701e+02] [-3.05831437e-01 9.50797683e-01 -4.95065534e-02 -6.98308724e+01] [-1.59702471e-01 3.06166466e-05 9.87165194e-01 -3.95942383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:229.82, Y:-69.84, Z:-39.60 [[ 9.38567158e-01 3.09689252e-01 1.52263774e-01 2.29815118e+02] [-3.05679186e-01 9.50837820e-01 -4.96756921e-02 -6.98425100e+01] [-1.60162183e-01 8.01067208e-05 9.87090710e-01 -3.96003876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:-69.85, Z:-39.61 [[ 9.38396768e-01 3.10249213e-01 1.52174017e-01 2.29844185e+02] [-3.06246811e-01 9.50655261e-01 -4.96735807e-02 -6.98526326e+01] [-1.60076219e-01 1.07202372e-05 9.87104657e-01 -3.96053317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.87, Y:-69.86, Z:-39.61 [[ 9.38229682e-01 3.10694652e-01 1.52295423e-01 2.29874453e+02] [-3.06687595e-01 9.50509774e-01 -4.97381896e-02 -6.98632835e+01] [-1.60211678e-01 -4.12713726e-05 9.87082680e-01 -3.96106581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.90, Y:-69.87, Z:-39.62 [[ 9.37732195e-01 3.11764166e-01 1.53171261e-01 2.29902379e+02] [-3.07720061e-01 9.50159495e-01 -5.00529567e-02 -6.98743641e+01] [-1.61141846e-01 -1.97600943e-04 9.86931237e-01 -3.96156874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:229.93, Y:-69.88, Z:-39.62 [[ 9.37489471e-01 3.12429625e-01 1.53301080e-01 2.29929607e+02] [-3.08387101e-01 9.49940858e-01 -5.00975302e-02 -6.98839910e+01] [-1.61278912e-01 -3.10168642e-04 9.86908819e-01 -3.96211527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30587156000004 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:229.96, Y:-69.90, Z:-39.63 [[ 9.36936296e-01 3.14183552e-01 1.53098247e-01 2.29957504e+02] [-3.10175365e-01 9.49362059e-01 -5.00292256e-02 -6.98951653e+01] [-1.61064027e-01 -6.13107335e-04 9.86943769e-01 -3.96268239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:-69.91, Z:-39.63 [[ 9.36701200e-01 3.15064403e-01 1.52726175e-01 2.29985362e+02] [-3.11087427e-01 9.49069987e-01 -4.99076404e-02 -6.99051965e+01] [-1.60671950e-01 -7.62646229e-04 9.87007570e-01 -3.96321059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36587156000004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:230.01, Y:-69.92, Z:-39.64 [[ 9.36477518e-01 3.15980638e-01 1.52204120e-01 2.30013731e+02] [-3.12042994e-01 9.48765196e-01 -4.97370442e-02 -6.99150991e+01] [-1.60121915e-01 -9.16605737e-04 9.87096820e-01 -3.96377296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39587156000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:230.04, Y:-69.92, Z:-39.64 [[ 9.35739009e-01 3.18632519e-01 1.51214501e-01 2.30040924e+02] [-3.14780557e-01 9.47877348e-01 -4.94139127e-02 -6.99247831e+01] [-1.59077679e-01 -1.36085906e-03 9.87265132e-01 -3.96435480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42587156000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:230.07, Y:-69.93, Z:-39.65 [[ 9.34632176e-01 3.22380436e-01 1.50111794e-01 2.30068049e+02] [-3.18633290e-01 9.46608107e-01 -4.90501651e-02 -6.99337692e+01] [-1.57909854e-01 -1.98675219e-03 9.87451533e-01 -3.96478374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45587156000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.09, Y:-69.94, Z:-39.65 [[ 9.33842228e-01 3.24434010e-01 1.50603008e-01 2.30094136e+02] [-3.20689830e-01 9.45905416e-01 -4.92034160e-02 -6.99417767e+01] [-1.58419462e-01 -2.34862531e-03 9.87369109e-01 -3.96532987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:-69.95, Z:-39.66 [[ 9.33033143e-01 3.26461419e-01 1.51235236e-01 2.30121557e+02] [-3.22713633e-01 9.45206631e-01 -4.93997511e-02 -6.99498604e+01] [-1.59075661e-01 -2.71406756e-03 9.87262664e-01 -3.96584213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51587156000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:230.15, Y:-69.96, Z:-39.66 [[ 9.32203696e-01 3.28442293e-01 1.52058968e-01 2.30153049e+02] [-3.24681140e-01 9.44519021e-01 -4.96585949e-02 -6.99592700e+01] [-1.59932571e-01 -3.07875349e-03 9.87123140e-01 -3.96639035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.18, Y:-69.97, Z:-39.67 [[ 9.30814680e-01 3.31948705e-01 1.52951260e-01 2.30183445e+02] [-3.28184483e-01 9.43290296e-01 -4.99836216e-02 -6.99686068e+01] [-1.60869438e-01 -3.67074140e-03 9.86968870e-01 -3.96690905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.21, Y:-69.98, Z:-39.67 [[ 9.30832236e-01 3.31903997e-01 1.52941440e-01 2.30210183e+02] [-3.28134244e-01 9.43306182e-01 -5.00136508e-02 -6.99771884e+01] [-1.60870337e-01 -3.63100554e-03 9.86968870e-01 -3.96739332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.24, Y:-69.99, Z:-39.68 [[ 9.30040123e-01 3.33835909e-01 1.53554404e-01 2.30240181e+02] [-3.30063456e-01 9.42622755e-01 -5.02041395e-02 -6.99854720e+01] [-1.61503820e-01 -3.99083306e-03 9.86864018e-01 -3.96792565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:-69.99, Z:-39.68 [[ 9.29771103e-01 3.34599407e-01 1.53521764e-01 2.30269112e+02] [-3.30838213e-01 9.42351460e-01 -5.01976371e-02 -6.99940184e+01] [-1.61467558e-01 -4.11855378e-03 9.86869427e-01 -3.96848956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.30, Y:-70.00, Z:-39.69 [[ 9.29659804e-01 3.35173342e-01 1.52942733e-01 2.30297668e+02] [-3.31447984e-01 9.42147118e-01 -5.00104229e-02 -7.00033067e+01] [-1.60856716e-01 -4.19988072e-03 9.86968833e-01 -3.96909875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.32, Y:-70.01, Z:-39.70 [[ 9.29561039e-01 3.35839560e-01 1.52079139e-01 2.30324513e+02] [-3.32165167e-01 9.41909437e-01 -4.97284064e-02 -7.00109729e+01] [-1.59945543e-01 -4.28980360e-03 9.87116518e-01 -3.96964604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:230.35, Y:-70.02, Z:-39.70 [[ 9.29517726e-01 3.36091504e-01 1.51787018e-01 2.30353274e+02] [-3.32435639e-01 9.41819381e-01 -4.96265937e-02 -7.00185654e+01] [-1.59635032e-01 -4.33061579e-03 9.87166603e-01 -3.97019744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.38, Y:-70.03, Z:-39.71 [[ 9.29472857e-01 3.36263121e-01 1.51681647e-01 2.30381927e+02] [-3.32614583e-01 9.41758001e-01 -4.95924010e-02 -7.00254713e+01] [-1.59523500e-01 -4.35673727e-03 9.87184518e-01 -3.97075012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78587156000003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:230.41, Y:-70.03, Z:-39.71 [[ 9.29541577e-01 3.36278818e-01 1.51225043e-01 2.30408904e+02] [-3.32653151e-01 9.41752429e-01 -4.94392927e-02 -7.00335070e+01] [-1.59041938e-01 -4.34960884e-03 9.87262246e-01 -3.97112656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:-70.04, Z:-39.72 [[ 9.29440795e-01 3.35927507e-01 1.52618864e-01 2.30435012e+02] [-3.32230583e-01 9.41877865e-01 -4.98891573e-02 -7.00399122e+01] [-1.60507470e-01 -4.33563606e-03 9.87025103e-01 -3.97171045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.46, Y:-70.04, Z:-39.72 [[ 9.29589594e-01 3.35042577e-01 1.53654346e-01 2.30463070e+02] [-3.31284706e-01 9.42193531e-01 -5.02174743e-02 -7.00448548e+01] [-1.61597122e-01 -4.22169314e-03 9.86847783e-01 -3.97214930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.49, Y:-70.05, Z:-39.73 [[ 9.29809925e-01 3.34227281e-01 1.54096163e-01 2.30490260e+02] [-3.30437851e-01 9.42483590e-01 -5.03538439e-02 -7.00517371e+01] [-1.62062733e-01 -4.09970096e-03 9.86771941e-01 -3.97262264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.52, Y:-70.06, Z:-39.73 [[ 9.30505451e-01 3.32063200e-01 1.54575667e-01 2.30519306e+02] [-3.28221714e-01 9.43249715e-01 -5.05022858e-02 -7.00583411e+01] [-1.62573404e-01 -3.74243804e-03 9.86689355e-01 -3.97312786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.55, Y:-70.07, Z:-39.74 [[ 9.30798910e-01 3.31224785e-01 1.54607667e-01 2.30547016e+02] [-3.27370873e-01 9.43545006e-01 -5.05087478e-02 -7.00658418e+01] [-1.62609041e-01 -3.60055939e-03 9.86684010e-01 -3.97362434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.57, Y:-70.07, Z:-39.74 [[ 9.31187394e-01 3.30127883e-01 1.54614417e-01 2.30572625e+02] [-3.26259572e-01 9.43930040e-01 -5.05051532e-02 -7.00726876e+01] [-1.62618352e-01 -3.41467157e-03 9.86683136e-01 -3.97406451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.60, Y:-70.08, Z:-39.75 [[ 9.31827822e-01 3.28422359e-01 1.54388033e-01 2.30599813e+02] [-3.24544301e-01 9.44525802e-01 -5.04183058e-02 -7.00777921e+01] [-1.62381979e-01 -3.12457601e-03 9.86723026e-01 -3.97456438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:-70.08, Z:-39.75 [[ 9.32197589e-01 3.27502791e-01 1.54108977e-01 2.30627478e+02] [-3.23628157e-01 9.44845545e-01 -5.03161153e-02 -7.00844245e+01] [-1.62087849e-01 -2.96944287e-03 9.86771864e-01 -3.97506605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.65, Y:-70.09, Z:-39.76 [[ 9.33168817e-01 3.25068794e-01 1.53382651e-01 2.30654818e+02] [-3.21199431e-01 9.45686956e-01 -5.00710147e-02 -7.00889864e+01] [-1.61328497e-01 -2.54171064e-03 9.86897490e-01 -3.97558049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:-70.10, Z:-39.76 [[ 9.33734511e-01 3.23452790e-01 1.53356306e-01 2.30681405e+02] [-3.19564750e-01 9.46241582e-01 -5.00523536e-02 -7.00957322e+01] [-1.61301687e-01 -2.27165971e-03 9.86902531e-01 -3.97609885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.71, Y:-70.10, Z:-39.77 [[ 9.34735261e-01 3.20208237e-01 1.54067117e-01 2.30709413e+02] [-3.16241691e-01 9.47345605e-01 -5.02742298e-02 -7.01010608e+01] [-1.62053029e-01 -1.72935031e-03 9.86780536e-01 -3.97659229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14587156000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.74, Y:-70.11, Z:-39.77 [[ 9.35371474e-01 3.18538166e-01 1.53667315e-01 2.30736566e+02] [-3.14571204e-01 9.47908937e-01 -5.01358615e-02 -7.01085924e+01] [-1.61632806e-01 -1.44365752e-03 9.86849914e-01 -3.97701215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.76, Y:-70.12, Z:-39.78 [[ 9.35946859e-01 3.16835109e-01 1.53684713e-01 2.30762725e+02] [-3.12845711e-01 9.48479929e-01 -5.01336826e-02 -7.01160150e+01] [-1.61650977e-01 -1.15714063e-03 9.86847315e-01 -3.97753670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20587156000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.79, Y:-70.12, Z:-39.78 [[ 9.37117061e-01 3.13635275e-01 1.53116061e-01 2.30789854e+02] [-3.09634668e-01 9.49543332e-01 -4.99382919e-02 -7.01233508e+01] [-1.61052744e-01 -6.12015225e-04 9.86945611e-01 -3.97813257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23587156000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:230.82, Y:-70.13, Z:-39.79 [[ 9.38066635e-01 3.11043821e-01 1.52586793e-01 2.30817740e+02] [-3.07038178e-01 9.50395555e-01 -4.97578726e-02 -7.01298204e+01] [-1.60494688e-01 -1.73770686e-04 9.87036689e-01 -3.97868518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.84, Y:-70.14, Z:-39.79 [[ 9.38439815e-01 3.09997247e-01 1.52421851e-01 2.30844490e+02] [-3.05987836e-01 9.50737454e-01 -4.96964523e-02 -7.01374525e+01] [-1.60318926e-01 -2.10290354e-06 9.87065267e-01 -3.97914417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.87, Y:-70.14, Z:-39.80 [[ 9.38695116e-01 3.09152420e-01 1.52565594e-01 2.30871550e+02] [-3.05125894e-01 9.51012494e-01 -4.97335418e-02 -7.01449595e+01] [-1.60467031e-01 1.32919406e-04 9.87041192e-01 -3.97963546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32587156000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:230.90, Y:-70.15, Z:-39.80 [[ 9.39142712e-01 3.08199555e-01 1.51736616e-01 2.30898390e+02] [-3.04205799e-01 9.51321687e-01 -4.94558374e-02 -7.01513998e+01] [-1.59592601e-01 2.86930705e-04 9.87182921e-01 -3.97998366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.93, Y:-70.16, Z:-39.81 [[ 9.38985662e-01 3.08337730e-01 1.52426283e-01 2.30927611e+02] [-3.04310797e-01 9.51276921e-01 -4.96705089e-02 -7.01593707e+01] [-1.60314897e-01 2.54931959e-04 9.87065889e-01 -3.98054270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.96, Y:-70.17, Z:-39.81 [[ 9.38743037e-01 3.08780594e-01 1.53023053e-01 2.30958356e+02] [-3.04727967e-01 9.51133278e-01 -4.98633481e-02 -7.01686282e+01] [-1.60942152e-01 1.78467079e-04 9.86963825e-01 -3.98114069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:230.99, Y:-70.18, Z:-39.82 [[ 9.38647964e-01 3.09236450e-01 1.52685354e-01 2.30987454e+02] [-3.05203059e-01 9.50985174e-01 -4.97824350e-02 -7.01776636e+01] [-1.60596052e-01 1.28143987e-04 9.87020208e-01 -3.98155621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:-70.18, Z:-39.82 [[ 9.38254009e-01 3.09837416e-01 1.53883692e-01 2.31015506e+02] [-3.05743305e-01 9.50789552e-01 -5.02021756e-02 -7.01845249e+01] [-1.61865519e-01 5.34837873e-05 9.86812825e-01 -3.98206860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.04, Y:-70.19, Z:-39.83 [[ 9.38221293e-01 3.09764480e-01 1.54229608e-01 2.31041478e+02] [-3.05652072e-01 9.50813317e-01 -5.03075305e-02 -7.01918112e+01] [-1.62227051e-01 5.89971413e-05 9.86753455e-01 -3.98253412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:-70.20, Z:-39.83 [[ 9.38176159e-01 3.09846514e-01 1.54339340e-01 2.31071642e+02] [-3.05731164e-01 9.50786588e-01 -5.03320873e-02 -7.02009869e+01] [-1.62338996e-01 3.40183828e-05 9.86735045e-01 -3.98310016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:-70.21, Z:-39.84 [[ 9.38272284e-01 3.09749501e-01 1.53949235e-01 2.31099993e+02] [-3.05648835e-01 9.50818195e-01 -5.02349420e-02 -7.02096067e+01] [-1.61937982e-01 7.96495698e-05 9.86800934e-01 -3.98363559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.13, Y:-70.22, Z:-39.84 [[ 9.38265638e-01 3.09861494e-01 1.53764258e-01 2.31126529e+02] [-3.05770413e-01 9.50781704e-01 -5.01857077e-02 -7.02177658e+01] [-1.61746862e-01 7.09645188e-05 9.86832279e-01 -3.98414750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.15, Y:-70.23, Z:-39.85 [[ 9.37918517e-01 3.10850629e-01 1.53885482e-01 2.31151603e+02] [-3.06767850e-01 9.50458771e-01 -5.02156529e-02 -7.02257805e+01] [-1.61871374e-01 -1.08927887e-04 9.86811860e-01 -3.98457365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:-70.23, Z:-39.85 [[ 9.37185649e-01 3.12713072e-01 1.54575528e-01 2.31179897e+02] [-3.08620713e-01 9.49847533e-01 -5.04273631e-02 -7.02334971e+01] [-1.62592480e-01 -4.45408708e-04 9.86693208e-01 -3.98505866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.21, Y:-70.24, Z:-39.86 [[ 9.36752258e-01 3.13913050e-01 1.54770165e-01 2.31207710e+02] [-3.09827249e-01 9.49451507e-01 -5.04867517e-02 -7.02411963e+01] [-1.62795216e-01 -6.58435766e-04 9.86659660e-01 -3.98557777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:-70.25, Z:-39.86 [[ 9.36514808e-01 3.14881769e-01 1.54238406e-01 2.31234743e+02] [-3.10837902e-01 9.49130542e-01 -5.03091669e-02 -7.02488668e+01] [-1.62233821e-01 -8.27862729e-04 9.86751996e-01 -3.98602728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:-70.26, Z:-39.87 [[ 9.35860628e-01 3.16988973e-01 1.53892417e-01 2.31261910e+02] [-3.12992316e-01 9.48428471e-01 -5.01920910e-02 -7.02563344e+01] [-1.61866289e-01 -1.19434203e-03 9.86811977e-01 -3.98655085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:-70.26, Z:-39.87 [[ 9.35571260e-01 3.17708155e-01 1.54168562e-01 2.31289675e+02] [-3.13708106e-01 9.48187620e-01 -5.02738765e-02 -7.02639343e+01] [-1.62153143e-01 -1.32913360e-03 9.86764709e-01 -3.98706651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.32, Y:-70.27, Z:-39.88 [[ 9.35413096e-01 3.18304053e-01 1.53898895e-01 2.31316536e+02] [-3.14327058e-01 9.47987589e-01 -5.01799921e-02 -7.02700738e+01] [-1.61866737e-01 -1.43556501e-03 9.86811582e-01 -3.98751948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.34, Y:-70.28, Z:-39.88 [[ 9.35452342e-01 3.18041711e-01 1.54202418e-01 2.31344125e+02] [-3.14047085e-01 9.48075684e-01 -5.02685412e-02 -7.02775987e+01] [-1.62183056e-01 -1.40299531e-03 9.86759691e-01 -3.98801376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.37, Y:-70.28, Z:-39.89 [[ 9.35540755e-01 3.17647427e-01 1.54478504e-01 2.31372050e+02] [-3.13634408e-01 9.48207943e-01 -5.03503267e-02 -7.02849577e+01] [-1.62471396e-01 -1.34499136e-03 9.86712337e-01 -3.98852486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:-70.29, Z:-39.89 [[ 9.35742216e-01 3.17245148e-01 1.54084460e-01 2.31398679e+02] [-3.13248641e-01 9.48342701e-01 -5.02136495e-02 -7.02929996e+01] [-1.62054910e-01 -1.27971596e-03 9.86780912e-01 -3.98900103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89587156000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.42, Y:-70.30, Z:-39.89 [[ 9.36018476e-01 3.16729237e-01 1.53466620e-01 2.31424958e+02] [-3.12759715e-01 9.48515240e-01 -5.00019924e-02 -7.03007794e+01] [-1.61402521e-01 -1.19538758e-03 9.86887936e-01 -3.98935623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:-70.31, Z:-39.90 [[ 9.35956979e-01 3.16326065e-01 1.54668526e-01 2.31452692e+02] [-3.12289926e-01 9.48649835e-01 -5.03834513e-02 -7.03079884e+01] [-1.62663871e-01 -1.14467959e-03 9.86680878e-01 -3.98991162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:-70.32, Z:-39.90 [[ 9.36152845e-01 3.15748256e-01 1.54663796e-01 2.31480353e+02] [-3.11705859e-01 9.48842417e-01 -5.03738575e-02 -7.03152004e+01] [-1.62657028e-01 -1.05198140e-03 9.86682109e-01 -3.99040779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:-70.32, Z:-39.91 [[ 9.36700617e-01 3.13842695e-01 1.55224729e-01 2.31507635e+02] [-3.09746078e-01 9.49474712e-01 -5.05483858e-02 -7.03215806e+01] [-1.63246196e-01 -7.31546701e-04 9.86585092e-01 -3.99082309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.54, Y:-70.33, Z:-39.91 [[ 9.37186113e-01 3.12234482e-01 1.55537192e-01 2.31535162e+02] [-3.08100958e-01 9.50004955e-01 -5.06397565e-02 -7.03297492e+01] [-1.63572581e-01 -4.62281305e-04 9.86531194e-01 -3.99131634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04587156000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.56, Y:-70.34, Z:-39.92 [[ 9.37784542e-01 3.10487545e-01 1.55427273e-01 2.31562007e+02] [-3.06337412e-01 9.50577434e-01 -5.05957811e-02 -7.03384965e+01] [-1.63455018e-01 -1.65246998e-04 9.86550774e-01 -3.99178757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:-70.35, Z:-39.92 [[ 9.38935495e-01 3.07045887e-01 1.55315676e-01 2.31587956e+02] [-3.02856246e-01 9.51694616e-01 -5.05514822e-02 -7.03475483e+01] [-1.63334718e-01 4.26258211e-04 9.86570620e-01 -3.99235297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:-70.36, Z:-39.93 [[ 9.39557796e-01 3.05196316e-01 1.55197799e-01 2.31614684e+02] [-3.00989843e-01 9.52289171e-01 -5.05019639e-02 -7.03568246e+01] [-1.63206197e-01 7.36552824e-04 9.86591706e-01 -3.99281479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:-70.37, Z:-39.93 [[ 9.40809026e-01 3.01480014e-01 1.54881175e-01 2.31640558e+02] [-2.97242028e-01 9.53471510e-01 -5.03910244e-02 -7.03665362e+01] [-1.62866675e-01 1.37113575e-03 9.86647134e-01 -3.99336879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:-70.38, Z:-39.94 [[ 9.41456593e-01 2.99560874e-01 1.54669866e-01 2.31667292e+02] [-2.95310432e-01 9.54075690e-01 -5.03122839e-02 -7.03755216e+01] [-1.62638351e-01 1.69120650e-03 9.86684299e-01 -3.99387433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.69, Y:-70.39, Z:-39.94 [[ 9.42436567e-01 2.96928114e-01 1.53775849e-01 2.31693467e+02] [-2.92693468e-01 9.54897470e-01 -5.00135567e-02 -7.03856148e+01] [-1.61690600e-01 2.12541812e-03 9.86839213e-01 -3.99433666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.72, Y:-70.40, Z:-39.95 [[ 9.42688164e-01 2.96066215e-01 1.53895493e-01 2.31721088e+02] [-2.91814496e-01 9.55164722e-01 -5.00465098e-02 -7.03955496e+01] [-1.61812626e-01 2.26931676e-03 9.86818891e-01 -3.99482967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.75, Y:-70.41, Z:-39.95 [[ 9.42874216e-01 2.95352159e-01 1.54127592e-01 2.31747305e+02] [-2.91078658e-01 9.55385462e-01 -5.01181941e-02 -7.04070313e+01] [-1.62053777e-01 2.39190036e-03 9.86779029e-01 -3.99540466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.78, Y:-70.42, Z:-39.96 [[ 9.42920714e-01 2.95327109e-01 1.53890952e-01 2.31775074e+02] [-2.91067451e-01 9.55393219e-01 -5.00353531e-02 -7.04170509e+01] [-1.61803168e-01 2.38672377e-03 9.86820165e-01 -3.99586517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.80, Y:-70.43, Z:-39.96 [[ 9.42923667e-01 2.95297144e-01 1.53930358e-01 2.31802427e+02] [-2.91035523e-01 9.55402476e-01 -5.00443194e-02 -7.04268766e+01] [-1.61843390e-01 2.38877086e-03 9.86813564e-01 -3.99640061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:-70.44, Z:-39.97 [[ 9.43010170e-01 2.95230553e-01 1.53527653e-01 2.31828635e+02] [-2.90991091e-01 9.55423052e-01 -4.99096896e-02 -7.04391598e+01] [-1.61418724e-01 2.39016543e-03 9.86883115e-01 -3.99685203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.86, Y:-70.45, Z:-39.97 [[ 9.42927500e-01 2.95339747e-01 1.53825109e-01 2.31856236e+02] [-2.91086118e-01 9.55389352e-01 -5.00005767e-02 -7.04500805e+01] [-1.61730029e-01 2.37056510e-03 9.86832194e-01 -3.99735161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.88, Y:-70.46, Z:-39.98 [[ 9.42360236e-01 2.96520330e-01 1.55025416e-01 2.31881706e+02] [-2.92216036e-01 9.55024049e-01 -5.03870520e-02 -7.04618278e+01] [-1.62993786e-01 2.18184157e-03 9.86624683e-01 -3.99783375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:-70.47, Z:-39.98 [[ 9.42179687e-01 2.97169650e-01 1.54879427e-01 2.31908598e+02] [-2.92883479e-01 9.54822473e-01 -5.03320271e-02 -7.04717201e+01] [-1.62839508e-01 2.06018822e-03 9.86650419e-01 -3.99829201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.93, Y:-70.48, Z:-39.99 [[ 9.41973339e-01 2.97887286e-01 1.54755916e-01 2.31934944e+02] [-2.93618866e-01 9.54599105e-01 -5.02843001e-02 -7.04815536e+01] [-1.62708913e-01 1.92721356e-03 9.86672233e-01 -3.99879094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.96, Y:-70.49, Z:-39.99 [[ 9.41983037e-01 2.97855451e-01 1.54758161e-01 2.31962457e+02] [-2.93587740e-01 9.54609042e-01 -5.02773893e-02 -7.04904060e+01] [-1.62708935e-01 1.92534909e-03 9.86672233e-01 -3.99928939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.99, Y:-70.50, Z:-40.00 [[ 9.41442159e-01 2.99550429e-01 1.54777913e-01 2.31988803e+02] [-2.95305277e-01 9.54079081e-01 -5.02782365e-02 -7.05023461e+01] [-1.62731236e-01 1.62731714e-03 9.86669092e-01 -3.99982486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.01, Y:-70.51, Z:-40.00 [[ 9.41154308e-01 3.00456515e-01 1.54772258e-01 2.32014769e+02] [-2.96225066e-01 9.53794391e-01 -5.02689655e-02 -7.05125232e+01] [-1.62724549e-01 1.46343117e-03 9.86670451e-01 -4.00033542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:-70.52, Z:-40.01 [[ 9.40591527e-01 3.02779557e-01 1.53662353e-01 2.32040672e+02] [-2.98641301e-01 9.53060044e-01 -4.98991488e-02 -7.05237762e+01] [-1.61557891e-01 1.04479154e-03 9.86862684e-01 -4.00085697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.07, Y:-70.53, Z:-40.01 [[ 9.40104057e-01 3.04328450e-01 1.53585664e-01 2.32066428e+02] [-3.00216063e-01 9.52566848e-01 -4.98669797e-02 -7.05339206e+01] [-1.61476553e-01 7.71266395e-04 9.86876248e-01 -4.00130147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.10, Y:-70.55, Z:-40.02 [[ 9.39161497e-01 3.07150975e-01 1.53733408e-01 2.32095763e+02] [-3.03070115e-01 9.51660760e-01 -4.99029290e-02 -7.05464002e+01] [-1.61629785e-01 2.74907843e-04 9.86851426e-01 -4.00190763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.13, Y:-70.56, Z:-40.02 [[ 9.38772677e-01 3.08374635e-01 1.53658533e-01 2.32126334e+02] [-3.04309465e-01 9.51264987e-01 -4.99066441e-02 -7.05571553e+01] [-1.61559926e-01 9.12477740e-05 9.86862899e-01 -4.00248628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70587156000002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.16, Y:-70.57, Z:-40.03 [[ 9.38147584e-01 3.10179237e-01 1.53843921e-01 2.32155871e+02] [-3.06122816e-01 9.50678077e-01 -5.00001559e-02 -7.05690129e+01] [-1.61765053e-01 -1.87608913e-04 9.86829282e-01 -4.00298960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.18, Y:-70.58, Z:-40.04 [[ 9.37976628e-01 3.10439140e-01 1.54361219e-01 2.32181794e+02] [-3.06353247e-01 9.50593236e-01 -5.02014783e-02 -7.05792741e+01] [-1.62319234e-01 -2.01247226e-04 9.86738276e-01 -4.00356159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:-70.59, Z:-40.04 [[ 9.37955819e-01 3.10135436e-01 1.55096399e-01 2.32207132e+02] [-3.06007985e-01 9.50692372e-01 -5.04294281e-02 -7.05913160e+01] [-1.63088916e-01 -1.60161012e-04 9.86611362e-01 -4.00403283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79587156000002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:232.23, Y:-70.60, Z:-40.04 [[ 9.38088115e-01 3.09582413e-01 1.55400832e-01 2.32234897e+02] [-3.05432672e-01 9.50872612e-01 -5.05188971e-02 -7.06020003e+01] [-1.63406157e-01 -7.33143940e-05 9.86558879e-01 -4.00447654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:-70.61, Z:-40.05 [[ 9.38413038e-01 3.08311952e-01 1.55963814e-01 2.32264281e+02] [-3.04114618e-01 9.51285298e-01 -5.07008928e-02 -7.06141318e+01] [-1.63997775e-01 1.47503028e-04 9.86460698e-01 -4.00511531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:-70.63, Z:-40.06 [[ 9.38819039e-01 3.07404833e-01 1.55309630e-01 2.32294910e+02] [-3.03225946e-01 9.51578772e-01 -5.05160105e-02 -7.06257761e+01] [-1.63318213e-01 3.31482991e-04 9.86573389e-01 -4.00563644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.32, Y:-70.64, Z:-40.06 [[ 9.39591828e-01 3.05490871e-01 1.54410245e-01 2.32322874e+02] [-3.01329335e-01 9.52194753e-01 -5.02571837e-02 -7.06411051e+01] [-1.62381736e-01 6.92902607e-04 9.86727770e-01 -4.00631497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.35, Y:-70.65, Z:-40.07 [[ 9.39900536e-01 3.04657104e-01 1.54178571e-01 2.32352835e+02] [-3.00493669e-01 9.52461715e-01 -5.02019641e-02 -7.06539969e+01] [-1.62143571e-01 8.55168514e-04 9.86766807e-01 -4.00690464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.38, Y:-70.67, Z:-40.07 [[ 9.40113078e-01 3.03732022e-01 1.54707010e-01 2.32382366e+02] [-2.99522079e-01 9.52756925e-01 -5.04060140e-02 -7.06686490e+01] [-1.62708096e-01 1.04918780e-03 9.86673692e-01 -4.00746893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.41, Y:-70.68, Z:-40.08 [[ 9.40187914e-01 3.03641849e-01 1.54428996e-01 2.32412290e+02] [-2.99440686e-01 9.52785617e-01 -5.03472316e-02 -7.06809244e+01] [-1.62425253e-01 1.09353407e-03 9.86720245e-01 -4.00800783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:232.44, Y:-70.70, Z:-40.09 [[ 9.40168507e-01 3.03709768e-01 1.54413586e-01 2.32442272e+02] [-2.99505051e-01 9.52763947e-01 -5.03744583e-02 -7.06954234e+01] [-1.62418913e-01 1.11283024e-03 9.86721267e-01 -4.00855324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:-70.71, Z:-40.09 [[ 9.40028133e-01 3.03928879e-01 1.54836514e-01 2.32471283e+02] [-2.99698511e-01 9.52694078e-01 -5.05449980e-02 -7.07071368e+01] [-1.62873915e-01 1.10944739e-03 9.86646267e-01 -4.00914893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:-70.72, Z:-40.10 [[ 9.39874449e-01 3.04371604e-01 1.54899793e-01 2.32501305e+02] [-3.00138739e-01 9.52552780e-01 -5.05958450e-02 -7.07193838e+01] [-1.62950167e-01 1.06231346e-03 9.86633729e-01 -4.00970482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:-70.73, Z:-40.10 [[ 9.39437484e-01 3.05591628e-01 1.55148219e-01 2.32531219e+02] [-3.01356306e-01 9.52162264e-01 -5.07089722e-02 -7.07333757e+01] [-1.63222517e-01 8.83015174e-04 9.86588886e-01 -4.01016653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.56, Y:-70.75, Z:-40.11 [[ 9.39004135e-01 3.06761699e-01 1.55462194e-01 2.32561374e+02] [-3.02519662e-01 9.51786086e-01 -5.08438938e-02 -7.07455623e+01] [-1.63563713e-01 7.12256068e-04 9.86532516e-01 -4.01070479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:232.59, Y:-70.76, Z:-40.11 [[ 9.38125397e-01 3.09706056e-01 1.54928691e-01 2.32589994e+02] [-3.05527826e-01 9.50832323e-01 -5.07014892e-02 -7.07587136e+01] [-1.63013766e-01 2.29328378e-04 9.86623768e-01 -4.01116956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.62, Y:-70.77, Z:-40.12 [[ 9.37474511e-01 3.11948903e-01 1.54367818e-01 2.32620445e+02] [-3.07826367e-01 9.50098871e-01 -5.05476305e-02 -7.07697741e+01] [-1.62432968e-01 -1.31369564e-04 9.86719572e-01 -4.01181426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.65, Y:-70.78, Z:-40.12 [[ 9.36110668e-01 3.16073130e-01 1.54254965e-01 2.32650337e+02] [-3.12006876e-01 9.48734479e-01 -5.05430216e-02 -7.07800066e+01] [-1.62322295e-01 -8.14747967e-04 9.86737457e-01 -4.01239870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.68, Y:-70.79, Z:-40.13 [[ 9.35389139e-01 3.18147857e-01 1.54366768e-01 2.32680960e+02] [-3.14100526e-01 9.48040401e-01 -5.05989832e-02 -7.07910279e+01] [-1.62443891e-01 -1.15694374e-03 9.86717104e-01 -4.01296575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:-70.80, Z:-40.13 [[ 9.34741896e-01 3.19853661e-01 1.54761828e-01 2.32710397e+02] [-3.15803405e-01 9.47465884e-01 -5.07603118e-02 -7.08015886e+01] [-1.62867424e-01 -1.42652209e-03 9.86646931e-01 -4.01347771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.74, Y:-70.81, Z:-40.14 [[ 9.33800701e-01 3.22270553e-01 1.55428249e-01 2.32739527e+02] [-3.18213222e-01 9.46645844e-01 -5.10097145e-02 -7.08112344e+01] [-1.63574435e-01 -1.82641673e-03 9.86529304e-01 -4.01398094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.77, Y:-70.82, Z:-40.14 [[ 9.33592694e-01 3.22802242e-01 1.55574403e-01 2.32768082e+02] [-3.18743890e-01 9.46464493e-01 -5.10616964e-02 -7.08205404e+01] [-1.63728478e-01 -1.91756361e-03 9.86503577e-01 -4.01449298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.80, Y:-70.83, Z:-40.15 [[ 9.33733957e-01 3.22248678e-01 1.55873945e-01 2.32797042e+02] [-3.18166585e-01 9.46653300e-01 -5.11620445e-02 -7.08297231e+01] [-1.64045486e-01 -1.82214247e-03 9.86451093e-01 -4.01503184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.83, Y:-70.84, Z:-40.16 [[ 9.33907702e-01 3.21741183e-01 1.55881413e-01 2.32825432e+02] [-3.17651675e-01 9.46826071e-01 -5.11644956e-02 -7.08387572e+01] [-1.64054311e-01 -1.73307531e-03 9.86449786e-01 -4.01559643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.85, Y:-70.85, Z:-40.16 [[ 9.34431059e-01 3.20349463e-01 1.55611111e-01 2.32853869e+02] [-3.16255054e-01 9.47298271e-01 -5.10757029e-02 -7.08477561e+01] [-1.63772210e-01 -1.48607717e-03 9.86497063e-01 -4.01611565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:-70.86, Z:-40.17 [[ 9.34645071e-01 3.19691547e-01 1.55678854e-01 2.32881966e+02] [-3.15584152e-01 9.47520680e-01 -5.10999359e-02 -7.08575777e+01] [-1.63845151e-01 -1.36947583e-03 9.86485120e-01 -4.01661989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:-70.87, Z:-40.17 [[ 9.34781830e-01 3.19252676e-01 1.55758338e-01 2.32910125e+02] [-3.15135008e-01 9.47668748e-01 -5.11260256e-02 -7.08671967e+01] [-1.63929429e-01 -1.29322518e-03 9.86471221e-01 -4.01710796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:-70.88, Z:-40.18 [[ 9.35063359e-01 3.18434342e-01 1.55743648e-01 2.32941825e+02] [-3.14306391e-01 9.47944220e-01 -5.11199314e-02 -7.08761284e+01] [-1.63914632e-01 -1.15084906e-03 9.86473856e-01 -4.01770858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.97, Y:-70.89, Z:-40.18 [[ 9.35164039e-01 3.18183275e-01 1.55652249e-01 2.32972033e+02] [-3.14050983e-01 9.48028614e-01 -5.11246290e-02 -7.08852205e+01] [-1.63829788e-01 -1.07282738e-03 9.86488038e-01 -4.01825733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:-70.89, Z:-40.19 [[ 9.35672364e-01 3.17190446e-01 1.54620337e-01 2.33003721e+02] [-3.13094409e-01 9.48361470e-01 -5.08174494e-02 -7.08942915e+01] [-1.62754779e-01 -8.62280060e-04 9.86666174e-01 -4.01883420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.03, Y:-70.90, Z:-40.19 [[ 9.35793868e-01 3.16958681e-01 1.54360072e-01 2.33034470e+02] [-3.12867912e-01 9.48439019e-01 -5.07651135e-02 -7.09042261e+01] [-1.62491559e-01 -7.88631618e-04 9.86709619e-01 -4.01945022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:-70.91, Z:-40.20 [[ 9.36377687e-01 3.15438443e-01 1.53933156e-01 2.33064978e+02] [-3.11344496e-01 9.48945914e-01 -5.06582357e-02 -7.09134628e+01] [-1.62053795e-01 -4.90999504e-04 9.86781803e-01 -4.02006300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:-70.92, Z:-40.21 [[ 9.36643748e-01 3.14624648e-01 1.53979933e-01 2.33094867e+02] [-3.10512135e-01 9.49216113e-01 -5.07048892e-02 -7.09240558e+01] [-1.62113241e-01 -3.20220202e-04 9.86772109e-01 -4.02061778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:-70.93, Z:-40.21 [[ 9.37016652e-01 3.13471443e-01 1.54063130e-01 2.33124572e+02] [-3.09333880e-01 9.49597623e-01 -5.07632214e-02 -7.09336089e+01] [-1.62210802e-01 -9.09619749e-05 9.86756124e-01 -4.02110216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:-70.94, Z:-40.22 [[ 9.37888453e-01 3.10372463e-01 1.55029621e-01 2.33155692e+02] [-3.06137080e-01 9.50614915e-01 -5.11015916e-02 -7.09432751e+01] [-1.63233997e-01 4.67277309e-04 9.86587271e-01 -4.02167133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:-70.95, Z:-40.22 [[ 9.39034018e-01 3.06284281e-01 1.56221167e-01 2.33185435e+02] [-3.01921084e-01 9.51939309e-01 -5.15287328e-02 -7.09538925e+01] [-1.64495511e-01 1.22076892e-03 9.86377076e-01 -4.02219552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:233.22, Y:-70.96, Z:-40.23 [[ 9.39531920e-01 3.04536100e-01 1.56644615e-01 2.33215707e+02] [-3.00119584e-01 9.52499514e-01 -5.17002056e-02 -7.09641610e+01] [-1.64948498e-01 1.56187687e-03 9.86300945e-01 -4.02269459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.25, Y:-70.98, Z:-40.23 [[ 9.39978934e-01 3.03299013e-01 1.56362756e-01 2.33245896e+02] [-2.98876424e-01 9.52893725e-01 -5.16375160e-02 -7.09751598e+01] [-1.64658697e-01 1.80503597e-03 9.86348952e-01 -4.02329846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.28, Y:-70.99, Z:-40.24 [[ 9.40835084e-01 3.00839183e-01 1.55965158e-01 2.33275734e+02] [-2.96400039e-01 9.53672201e-01 -5.15397848e-02 -7.09866192e+01] [-1.64244823e-01 2.26235869e-03 9.86417011e-01 -4.02384555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:-71.00, Z:-40.24 [[ 9.41083346e-01 3.00239513e-01 1.55622524e-01 2.33306057e+02] [-2.95806696e-01 9.53860847e-01 -5.14575922e-02 -7.09981671e+01] [-1.63891835e-01 2.39169824e-03 9.86475416e-01 -4.02449530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:-71.01, Z:-40.25 [[ 9.41369692e-01 2.99812906e-01 1.54710456e-01 2.33335319e+02] [-2.95420965e-01 9.53994786e-01 -5.11898584e-02 -7.10091046e+01] [-1.62940349e-01 2.48386902e-03 9.86632796e-01 -4.02505735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93587156000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:233.37, Y:-71.02, Z:-40.25 [[ 9.41434901e-01 2.99695646e-01 1.54540760e-01 2.33365242e+02] [-2.95306620e-01 9.54031503e-01 -5.11653325e-02 -7.10193851e+01] [-1.62770781e-01 2.53192010e-03 9.86660662e-01 -4.02549616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96587156000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.40, Y:-71.03, Z:-40.26 [[ 9.41151793e-01 3.00451136e-01 1.54797987e-01 2.33395604e+02] [-2.96052428e-01 9.53794100e-01 -5.12813324e-02 -7.10321745e+01] [-1.63052942e-01 2.43519783e-03 9.86614316e-01 -4.02616299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99587156000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:233.43, Y:-71.04, Z:-40.27 [[ 9.40994028e-01 3.01118181e-01 1.54460611e-01 2.33425102e+02] [-2.96742111e-01 9.53583941e-01 -5.12033951e-02 -7.10433257e+01] [-1.62709431e-01 2.34712135e-03 9.86671238e-01 -4.02657212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.45, Y:-71.06, Z:-40.27 [[ 9.40621738e-01 3.02161100e-01 1.54691354e-01 2.33454364e+02] [-2.97780629e-01 9.53254335e-01 -5.13115039e-02 -7.10552901e+01] [-1.62964544e-01 2.20062736e-03 9.86629472e-01 -4.02723085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.48, Y:-71.07, Z:-40.28 [[ 9.39933795e-01 3.04153354e-01 1.54968381e-01 2.33484707e+02] [-2.99778880e-01 9.52621211e-01 -5.14339513e-02 -7.10674539e+01] [-1.63269975e-01 1.88826151e-03 9.86579622e-01 -4.02769478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.51, Y:-71.08, Z:-40.28 [[ 9.38511921e-01 3.08470691e-01 1.55052270e-01 2.33514413e+02] [-3.04144439e-01 9.51233128e-01 -5.14946254e-02 -7.10797751e+01] [-1.63375439e-01 1.17003401e-03 9.86563276e-01 -4.02830004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.54, Y:-71.09, Z:-40.29 [[ 9.37610970e-01 3.11089204e-01 1.55271299e-01 2.33543965e+02] [-3.06780769e-01 9.50380423e-01 -5.16004915e-02 -7.10908738e+01] [-1.63619159e-01 7.46938405e-04 9.86523296e-01 -4.02885632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:-71.10, Z:-40.29 [[ 9.36554141e-01 3.14195675e-01 1.55394395e-01 2.33574722e+02] [-3.09917673e-01 9.49358216e-01 -5.16721726e-02 -7.11023097e+01] [-1.63760119e-01 2.34317857e-04 9.86500161e-01 -4.02936966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:-71.11, Z:-40.30 [[ 9.34537517e-01 3.20258679e-01 1.55158009e-01 2.33604251e+02] [-3.16070953e-01 9.47329800e-01 -5.16275424e-02 -7.11131168e+01] [-1.63519974e-01 -7.93064434e-04 9.86539705e-01 -4.02992235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20587156000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:233.63, Y:-71.12, Z:-40.30 [[ 9.33663405e-01 3.23012527e-01 1.54711195e-01 2.33634130e+02] [-3.18883189e-01 9.46393861e-01 -5.14992384e-02 -7.11230977e+01] [-1.63052624e-01 -1.25184494e-03 9.86616579e-01 -4.03037506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.66, Y:-71.13, Z:-40.31 [[ 9.32030873e-01 3.27897574e-01 1.54277775e-01 2.33664939e+02] [-3.23852881e-01 9.44711010e-01 -5.13850114e-02 -7.11328499e+01] [-1.62596933e-01 -2.07088477e-03 9.86690402e-01 -4.03113848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.70, Y:-71.14, Z:-40.32 [[ 9.31352360e-01 3.29923364e-01 1.54056338e-01 2.33696169e+02] [-3.25912497e-01 9.44004694e-01 -5.13437597e-02 -7.11425267e+01] [-1.62369412e-01 -2.38975388e-03 9.86727147e-01 -4.03174415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.73, Y:-71.15, Z:-40.32 [[ 9.30694114e-01 3.31705723e-01 1.54206935e-01 2.33727158e+02] [-3.27705860e-01 9.43379125e-01 -5.14266121e-02 -7.11519193e+01] [-1.62534105e-01 -2.67207093e-03 9.86699308e-01 -4.03227869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32587156000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:233.76, Y:-71.16, Z:-40.33 [[ 9.29828576e-01 3.33864135e-01 1.54769375e-01 2.33757471e+02] [-3.29859062e-01 9.42616340e-01 -5.16472138e-02 -7.11610222e+01] [-1.63131294e-01 -3.02902549e-03 9.86599719e-01 -4.03272793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:-71.17, Z:-40.33 [[ 9.29229418e-01 3.35340373e-01 1.55175780e-01 2.33786432e+02] [-3.31329241e-01 9.42091378e-01 -5.18147627e-02 -7.11691529e+01] [-1.63565346e-01 -3.26647164e-03 9.86527094e-01 -4.03334225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.82, Y:-71.18, Z:-40.34 [[ 9.29218013e-01 3.35372232e-01 1.55175226e-01 2.33816173e+02] [-3.31361264e-01 9.42080024e-01 -5.18164226e-02 -7.11791381e+01] [-1.63565269e-01 -3.27030567e-03 9.86527094e-01 -4.03388327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.85, Y:-71.19, Z:-40.34 [[ 9.29069188e-01 3.35730833e-01 1.55290864e-01 2.33847068e+02] [-3.31718001e-01 9.41952074e-01 -5.18599795e-02 -7.11882169e+01] [-1.63687546e-01 -3.33126598e-03 9.86506609e-01 -4.03438129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.88, Y:-71.20, Z:-40.35 [[ 9.28993246e-01 3.35763303e-01 1.55674510e-01 2.33878266e+02] [-3.31725494e-01 9.41940561e-01 -5.20209188e-02 -7.11978239e+01] [-1.64102850e-01 -3.31412136e-03 9.86437667e-01 -4.03497015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.91, Y:-71.21, Z:-40.36 [[ 9.29350391e-01 3.34690440e-01 1.55853008e-01 2.33909872e+02] [-3.30622838e-01 9.42323044e-01 -5.21135313e-02 -7.12064111e+01] [-1.64305781e-01 -3.09683302e-03 9.86404592e-01 -4.03550973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.94, Y:-71.22, Z:-40.36 [[ 9.29640646e-01 3.33987039e-01 1.55630738e-01 2.33941239e+02] [-3.29915707e-01 9.42573094e-01 -5.20729088e-02 -7.12159475e+01] [-1.64085023e-01 -2.93593243e-03 9.86441831e-01 -4.03610090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.97, Y:-71.22, Z:-40.37 [[ 9.30618743e-01 3.31282194e-01 1.55566264e-01 2.33971553e+02] [-3.27171028e-01 9.43528604e-01 -5.20854254e-02 -7.12242263e+01] [-1.64036194e-01 -2.42510141e-03 9.86451340e-01 -4.03667970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.00, Y:-71.23, Z:-40.37 [[ 9.31131014e-01 3.29733375e-01 1.55791327e-01 2.34002719e+02] [-3.25585256e-01 9.44071682e-01 -5.21814150e-02 -7.12338717e+01] [-1.64284134e-01 -2.13562513e-03 9.86410747e-01 -4.03727777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.03, Y:-71.24, Z:-40.38 [[ 9.32342283e-01 3.26474418e-01 1.55410174e-01 2.34033854e+02] [-3.22296138e-01 9.45204808e-01 -5.20871467e-02 -7.12427708e+01] [-1.63899565e-01 -1.52504986e-03 9.86475852e-01 -4.03783085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62587156000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:234.06, Y:-71.25, Z:-40.38 [[ 9.32854952e-01 3.25153125e-01 1.55103460e-01 2.34064315e+02] [-3.20969332e-01 9.45660530e-01 -5.20081650e-02 -7.12515343e+01] [-1.63585837e-01 -1.26737953e-03 9.86528290e-01 -4.03826467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.10, Y:-71.26, Z:-40.39 [[ 9.33526067e-01 3.23236828e-01 1.55071068e-01 2.34095206e+02] [-3.19025040e-01 9.46317665e-01 -5.20182773e-02 -7.12598532e+01] [-1.63560714e-01 -9.11135918e-04 9.86532849e-01 -4.03891752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:-71.27, Z:-40.39 [[ 9.33822911e-01 3.22435479e-01 1.54952036e-01 2.34126434e+02] [-3.18213811e-01 9.46591156e-01 -5.20110984e-02 -7.12697805e+01] [-1.63446450e-01 -7.38722504e-04 9.86551931e-01 -4.03948965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.16, Y:-71.28, Z:-40.40 [[ 9.33966022e-01 3.21810283e-01 1.55388581e-01 2.34157606e+02] [-3.17550556e-01 9.46803983e-01 -5.21906334e-02 -7.12799164e+01] [-1.63918010e-01 -5.99452041e-04 9.86473784e-01 -4.04009812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:-71.29, Z:-40.41 [[ 9.34543911e-01 3.20351970e-01 1.54926738e-01 2.34189458e+02] [-3.16092306e-01 9.47298537e-01 -5.20685657e-02 -7.12884214e+01] [-1.63442140e-01 -3.10788895e-04 9.86552873e-01 -4.04071274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:-71.30, Z:-40.41 [[ 9.34920986e-01 3.19236604e-01 1.54953996e-01 2.34221518e+02] [-3.14954723e-01 9.47675041e-01 -5.21108319e-02 -7.12964203e+01] [-1.63481720e-01 -8.39826374e-05 9.86546360e-01 -4.04127982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80587156000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:234.25, Y:-71.31, Z:-40.42 [[ 9.34974637e-01 3.19102863e-01 1.54905749e-01 2.34253225e+02] [-3.14816211e-01 9.47720086e-01 -5.21286033e-02 -7.13054614e+01] [-1.63441676e-01 -2.79189207e-05 9.86552998e-01 -4.04167775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:-71.31, Z:-40.42 [[ 9.34827425e-01 3.19373575e-01 1.55235964e-01 2.34283492e+02] [-3.15066549e-01 9.47628892e-01 -5.22738189e-02 -7.13149531e+01] [-1.63800961e-01 -4.26599059e-05 9.86493408e-01 -4.04234202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:-71.32, Z:-40.43 [[ 9.34502221e-01 3.20236886e-01 1.55415364e-01 2.34313678e+02] [-3.15926400e-01 9.47337485e-01 -5.23660209e-02 -7.13232914e+01] [-1.64000332e-01 -1.63653683e-04 9.86460270e-01 -4.04282826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:-71.33, Z:-40.43 [[ 9.34151116e-01 3.21141373e-01 1.55659601e-01 2.34344908e+02] [-3.16824497e-01 9.47031221e-01 -5.24795725e-02 -7.13332847e+01] [-1.64267864e-01 -2.92923462e-04 9.86415725e-01 -4.04339455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92587156000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:234.38, Y:-71.34, Z:-40.44 [[ 9.33332691e-01 3.23359825e-01 1.55975997e-01 2.34376983e+02] [-3.19050457e-01 9.46275857e-01 -5.26194664e-02 -7.13397547e+01] [-1.64611342e-01 -6.52745046e-04 9.86358292e-01 -4.04382638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:-71.35, Z:-40.45 [[ 9.32651634e-01 3.25028537e-01 1.56580269e-01 2.34408385e+02] [-3.20703202e-01 9.45703762e-01 -5.28568830e-02 -7.13481290e+01] [-1.65258545e-01 -9.18735458e-04 9.86249851e-01 -4.04452292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.44, Y:-71.36, Z:-40.45 [[ 9.32114076e-01 3.26510628e-01 1.56697668e-01 2.34438576e+02] [-3.22193795e-01 9.45192831e-01 -5.29308030e-02 -7.13560288e+01] [-1.65391982e-01 -1.14946977e-03 9.86227241e-01 -4.04508698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:-71.36, Z:-40.46 [[ 9.31327497e-01 3.28984443e-01 1.56199648e-01 2.34470014e+02] [-3.24726237e-01 9.44334047e-01 -5.27833263e-02 -7.13623897e+01] [-1.64869539e-01 -1.56356068e-03 9.86314144e-01 -4.04565473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.50, Y:-71.37, Z:-40.46 [[ 9.30839637e-01 3.30437400e-01 1.56040685e-01 2.34498017e+02] [-3.26203071e-01 9.43826214e-01 -5.27601628e-02 -7.13672260e+01] [-1.64709220e-01 -1.78969982e-03 9.86340545e-01 -4.04615928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07587156000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:234.53, Y:-71.37, Z:-40.47 [[ 9.30801725e-01 3.30729877e-01 1.55646706e-01 2.34527931e+02] [-3.26521895e-01 9.43723666e-01 -5.26221846e-02 -7.13748737e+01] [-1.64291209e-01 -1.84123723e-03 9.86410162e-01 -4.04656619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.56, Y:-71.38, Z:-40.47 [[ 9.30673096e-01 3.31035354e-01 1.55766437e-01 2.34556750e+02] [-3.26824344e-01 9.43616455e-01 -5.26672068e-02 -7.13783734e+01] [-1.64418480e-01 -1.89231109e-03 9.86388860e-01 -4.04720141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.58, Y:-71.38, Z:-40.48 [[ 9.30691615e-01 3.30919333e-01 1.55902255e-01 2.34584468e+02] [-3.26699648e-01 9.43657182e-01 -5.27111201e-02 -7.13845670e+01] [-1.64561411e-01 -1.87541422e-03 9.86365057e-01 -4.04772160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.61, Y:-71.39, Z:-40.48 [[ 9.30851721e-01 3.30589861e-01 1.55645167e-01 2.34611895e+02] [-3.26380648e-01 9.43772764e-01 -5.26178852e-02 -7.13910090e+01] [-1.64288608e-01 -1.82012133e-03 9.86410635e-01 -4.04818180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.64, Y:-71.40, Z:-40.49 [[ 9.31395566e-01 3.29041097e-01 1.55673557e-01 2.34639940e+02] [-3.24810196e-01 9.44314322e-01 -5.26193695e-02 -7.13960904e+01] [-1.64318705e-01 -1.55491121e-03 9.86406075e-01 -4.04871898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.67, Y:-71.40, Z:-40.49 [[ 9.32326545e-01 3.26765705e-01 1.54891536e-01 2.34667531e+02] [-3.22547620e-01 9.45104671e-01 -5.23468659e-02 -7.14020397e+01] [-1.63493875e-01 -1.15552374e-03 9.86543672e-01 -4.04919183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:-71.41, Z:-40.50 [[ 9.32890800e-01 3.25323011e-01 1.54530561e-01 2.34695706e+02] [-3.21106428e-01 9.45602513e-01 -5.22163707e-02 -7.14093669e+01] [-1.63111674e-01 -9.08584473e-04 9.86607195e-01 -4.04970751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.72, Y:-71.42, Z:-40.50 [[ 9.33380218e-01 3.23924527e-01 1.54513010e-01 2.34722907e+02] [-3.19690558e-01 9.46082689e-01 -5.22062488e-02 -7.14164037e+01] [-1.63092968e-01 -6.68070417e-04 9.86610479e-01 -4.05021873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.75, Y:-71.42, Z:-40.51 [[ 9.34474107e-01 3.20426204e-01 1.55194047e-01 2.34751155e+02] [-3.16107662e-01 9.47273479e-01 -5.24299762e-02 -7.14220546e+01] [-1.63811143e-01 -6.35720774e-05 9.86491716e-01 -4.05069129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.78, Y:-71.43, Z:-40.51 [[ 9.35046988e-01 3.18673527e-01 1.55352225e-01 2.34779555e+02] [-3.14323469e-01 9.47864509e-01 -5.24750348e-02 -7.14304276e+01] [-1.63975265e-01 2.35772989e-04 9.86464423e-01 -4.05120202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.81, Y:-71.44, Z:-40.52 [[ 9.36014994e-01 3.15476571e-01 1.56046354e-01 2.34807882e+02] [-3.11043839e-01 9.48933033e-01 -5.27051239e-02 -7.14393151e+01] [-1.64704772e-01 7.95529266e-04 9.86342590e-01 -4.05171301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.84, Y:-71.45, Z:-40.52 [[ 9.36409050e-01 3.14263957e-01 1.56128972e-01 2.34838242e+02] [-3.09809905e-01 9.49335109e-01 -5.27320961e-02 -7.14498275e+01] [-1.64790512e-01 1.00850983e-03 9.86328074e-01 -4.05226145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.87, Y:-71.46, Z:-40.53 [[ 9.37199171e-01 3.12336366e-01 1.55253690e-01 2.34867221e+02] [-3.07901264e-01 9.49970590e-01 -5.24660809e-02 -7.14599589e+01] [-1.63873505e-01 1.36836003e-03 9.86480411e-01 -4.05283663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46587156000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:234.90, Y:-71.47, Z:-40.53 [[ 9.37570263e-01 3.11325590e-01 1.55043150e-01 2.34896102e+02] [-3.06884146e-01 9.50302011e-01 -5.24233703e-02 -7.14692038e+01] [-1.63658554e-01 1.57030849e-03 9.86515794e-01 -4.05327477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49587156000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:234.92, Y:-71.48, Z:-40.54 [[ 9.38174712e-01 3.09745565e-01 1.54550621e-01 2.34923434e+02] [-3.05311177e-01 9.50817700e-01 -5.22569207e-02 -7.14785295e+01] [-1.63135815e-01 1.84008946e-03 9.86601905e-01 -4.05374192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.95, Y:-71.49, Z:-40.54 [[ 9.38472265e-01 3.08900265e-01 1.54435855e-01 2.34952816e+02] [-3.04461518e-01 9.51092368e-01 -5.22158182e-02 -7.14885960e+01] [-1.63012243e-01 1.98332228e-03 9.86622053e-01 -4.05439398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.98, Y:-71.50, Z:-40.55 [[ 9.38603498e-01 3.08399398e-01 1.54639212e-01 2.34981166e+02] [-3.03941507e-01 9.51254697e-01 -5.22882538e-02 -7.14990585e+01] [-1.63226942e-01 2.07666290e-03 9.86586364e-01 -4.05494614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58587156000004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:235.01, Y:-71.51, Z:-40.55 [[ 9.38655525e-01 3.08495006e-01 1.54131882e-01 2.35010193e+02] [-3.04065235e-01 9.51223714e-01 -5.21323230e-02 -7.15101828e+01] [-1.62696462e-01 2.06814616e-03 9.86674001e-01 -4.05526830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.04, Y:-71.52, Z:-40.56 [[ 9.38444787e-01 3.08861230e-01 1.54680714e-01 2.35039927e+02] [-3.04400213e-01 9.51104931e-01 -5.23442502e-02 -7.15216178e+01] [-1.63284699e-01 2.03734648e-03 9.86576888e-01 -4.05601985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.07, Y:-71.53, Z:-40.57 [[ 9.38034077e-01 3.09915301e-01 1.55063140e-01 2.35069435e+02] [-3.05440680e-01 9.50762288e-01 -5.25077325e-02 -7.15324771e+01] [-1.63701136e-01 1.89145138e-03 9.86508166e-01 -4.05650075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.10, Y:-71.54, Z:-40.57 [[ 9.37811716e-01 3.10485865e-01 1.55266590e-01 2.35098241e+02] [-3.06001828e-01 9.50576244e-01 -5.26087910e-02 -7.15424290e+01] [-1.63927018e-01 1.82528002e-03 9.86470781e-01 -4.05700988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.13, Y:-71.55, Z:-40.57 [[ 9.37224185e-01 3.11958488e-01 1.55861247e-01 2.35126934e+02] [-3.07457159e-01 9.50094402e-01 -5.28272920e-02 -7.15522014e+01] [-1.64562821e-01 1.59035937e-03 9.86365322e-01 -4.05744399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.16, Y:-71.56, Z:-40.58 [[ 9.36885635e-01 3.12827511e-01 1.56154591e-01 2.35155929e+02] [-3.08321103e-01 9.49808862e-01 -5.29265892e-02 -7.15622762e+01] [-1.64873907e-01 1.44040549e-03 9.86313601e-01 -4.05800090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.18, Y:-71.57, Z:-40.59 [[ 9.36396952e-01 3.14287950e-01 1.56153232e-01 2.35182812e+02] [-3.09801048e-01 9.49326959e-01 -5.29304893e-02 -7.15721510e+01] [-1.64875888e-01 1.18751407e-03 9.86313607e-01 -4.05854393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.21, Y:-71.58, Z:-40.59 [[ 9.36217480e-01 3.14931209e-01 1.55933203e-01 2.35210641e+02] [-3.10466227e-01 9.49113896e-01 -5.28538964e-02 -7.15814595e+01] [-1.64643712e-01 1.07074836e-03 9.86352524e-01 -4.05904437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:-71.59, Z:-40.60 [[ 9.36150468e-01 3.15248478e-01 1.55694247e-01 2.35238009e+02] [-3.10802300e-01 9.49008629e-01 -5.27688553e-02 -7.15902597e+01] [-1.64390485e-01 1.00945854e-03 9.86394824e-01 -4.05955798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.27, Y:-71.60, Z:-40.60 [[ 9.36237175e-01 3.15279401e-01 1.55109162e-01 2.35265489e+02] [-3.10867897e-01 9.48998370e-01 -5.25665684e-02 -7.15981566e+01] [-1.63771498e-01 9.96316456e-04 9.86497797e-01 -4.06006503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.29, Y:-71.61, Z:-40.61 [[ 9.36450158e-01 3.14716825e-01 1.54965872e-01 2.35292723e+02] [-3.10306895e-01 9.49184986e-01 -5.25118458e-02 -7.16073372e+01] [-1.63617641e-01 1.08774756e-03 9.86523231e-01 -4.06063748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.32, Y:-71.62, Z:-40.61 [[ 9.36702431e-01 3.14249846e-01 1.54387788e-01 2.35319617e+02] [-3.09867354e-01 9.49339605e-01 -5.23119205e-02 -7.16167341e+01] [-1.63005455e-01 1.16096787e-03 9.86624485e-01 -4.06115049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.35, Y:-71.63, Z:-40.62 [[ 9.36999077e-01 3.13611811e-01 1.53884248e-01 2.35348289e+02] [-3.09250247e-01 9.49550439e-01 -5.21368319e-02 -7.16267937e+01] [-1.62471582e-01 1.26342166e-03 9.86712415e-01 -4.06172472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:235.38, Y:-71.64, Z:-40.62 [[ 9.37462780e-01 3.12746962e-01 1.52816470e-01 2.35375637e+02] [-3.08434699e-01 9.49835443e-01 -5.17751705e-02 -7.16363660e+01] [-1.61343027e-01 1.40339332e-03 9.86897390e-01 -4.06210555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.40, Y:-71.65, Z:-40.63 [[ 9.37662860e-01 3.12238630e-01 1.52628303e-01 2.35403300e+02] [-3.07930675e-01 9.50002540e-01 -5.17095081e-02 -7.16456000e+01] [-1.61142981e-01 1.48714893e-03 9.86929951e-01 -4.06274654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:-71.66, Z:-40.63 [[ 9.37644555e-01 3.12047418e-01 1.53130979e-01 2.35430176e+02] [-3.07708950e-01 9.50065311e-01 -5.18758853e-02 -7.16551959e+01] [-1.61672168e-01 1.52136847e-03 9.86843349e-01 -4.06327669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:-71.66, Z:-40.64 [[ 9.37643962e-01 3.12145665e-01 1.52934249e-01 2.35457521e+02] [-3.07820709e-01 9.50033075e-01 -5.18031553e-02 -7.16649891e+01] [-1.61462725e-01 1.49658671e-03 9.86877677e-01 -4.06375666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.49, Y:-71.67, Z:-40.64 [[ 9.37746896e-01 3.12177737e-01 1.52236064e-01 2.35485123e+02] [-3.07893514e-01 9.50022563e-01 -5.15627237e-02 -7.16742277e+01] [-1.60724430e-01 1.48028748e-03 9.86998210e-01 -4.06430027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.51, Y:-71.68, Z:-40.65 [[ 9.37579971e-01 3.12395142e-01 1.52817127e-01 2.35512228e+02] [-3.08081428e-01 9.49951150e-01 -5.17556363e-02 -7.16831998e+01] [-1.61337015e-01 1.44492917e-03 9.86898313e-01 -4.06481494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:-71.69, Z:-40.65 [[ 9.37482516e-01 3.12451514e-01 1.53299004e-01 2.35539531e+02] [-3.08112077e-01 9.49932626e-01 -5.19129393e-02 -7.16922779e+01] [-1.61844002e-01 1.43419824e-03 9.86815313e-01 -4.06527202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18587156000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:235.57, Y:-71.70, Z:-40.66 [[ 9.37482791e-01 3.12493147e-01 1.53212432e-01 2.35565813e+02] [-3.08160534e-01 9.49918955e-01 -5.18754644e-02 -7.17024983e+01] [-1.61750120e-01 1.41833034e-03 9.86830729e-01 -4.06563552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.59, Y:-71.71, Z:-40.66 [[ 9.37493341e-01 3.12377371e-01 1.53383879e-01 2.35592821e+02] [-3.08034112e-01 9.49957007e-01 -5.19294734e-02 -7.17120111e+01] [-1.61929683e-01 1.43606855e-03 9.86801254e-01 -4.06627714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.62, Y:-71.72, Z:-40.67 [[ 9.37554542e-01 3.12022240e-01 1.53732241e-01 2.35619855e+02] [-3.07655646e-01 9.50073624e-01 -5.20395189e-02 -7.17221215e+01] [-1.62294435e-01 1.49329538e-03 9.86741246e-01 -4.06669666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.65, Y:-71.73, Z:-40.67 [[ 9.37602026e-01 3.11716374e-01 1.54062788e-01 2.35646298e+02] [-3.07328076e-01 9.50173944e-01 -5.21433528e-02 -7.17324782e+01] [-1.62640384e-01 1.54189287e-03 9.86684209e-01 -4.06723111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.67, Y:-71.74, Z:-40.68 [[ 9.37612423e-01 3.11684210e-01 1.54064591e-01 2.35673702e+02] [-3.07296356e-01 9.50184496e-01 -5.21380254e-02 -7.17416650e+01] [-1.62640385e-01 1.54177284e-03 9.86684209e-01 -4.06772956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.70, Y:-71.75, Z:-40.68 [[ 9.37781572e-01 3.11340075e-01 1.53730545e-01 2.35699511e+02] [-3.06967705e-01 9.50297228e-01 -5.20192899e-02 -7.17536099e+01] [-1.62285400e-01 1.59241892e-03 9.86742577e-01 -4.06815654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:-71.77, Z:-40.69 [[ 9.37768546e-01 3.11357441e-01 1.53774832e-01 2.35728388e+02] [-3.06984140e-01 9.50291556e-01 -5.20259154e-02 -7.17652031e+01] [-1.62329580e-01 1.58183239e-03 9.86735327e-01 -4.06869725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.76, Y:-71.78, Z:-40.69 [[ 9.37694716e-01 3.11535120e-01 1.53865161e-01 2.35757455e+02] [-3.07158354e-01 9.50233365e-01 -5.20605150e-02 -7.17766069e+01] [-1.62426488e-01 1.55590018e-03 9.86719421e-01 -4.06921604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.78, Y:-71.79, Z:-40.70 [[ 9.37642541e-01 3.11607114e-01 1.54037244e-01 2.35784827e+02] [-3.07220765e-01 9.50209770e-01 -5.21228841e-02 -7.17876262e+01] [-1.62609556e-01 1.54919361e-03 9.86689279e-01 -4.06976972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.81, Y:-71.80, Z:-40.70 [[ 9.37208618e-01 3.12446800e-01 1.54974205e-01 2.35814955e+02] [-3.08017800e-01 9.49934209e-01 -5.24407717e-02 -7.18008365e+01] [-1.63600250e-01 1.41312969e-03 9.86525702e-01 -4.07028420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.84, Y:-71.81, Z:-40.71 [[ 9.36913258e-01 3.13360529e-01 1.54915223e-01 2.35844578e+02] [-3.08941806e-01 9.49633365e-01 -5.24541070e-02 -7.18129412e+01] [-1.63549712e-01 1.28515943e-03 9.86534257e-01 -4.07079831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.87, Y:-71.83, Z:-40.71 [[ 9.36329554e-01 3.15147978e-01 1.54818340e-01 2.35872142e+02] [-3.10753825e-01 9.49042015e-01 -5.24529724e-02 -7.18252944e+01] [-1.63459557e-01 1.00287696e-03 9.86549526e-01 -4.07126235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.90, Y:-71.84, Z:-40.72 [[ 9.35969968e-01 3.15938220e-01 1.55381014e-01 2.35902335e+02] [-3.11521164e-01 9.48779359e-01 -5.26525622e-02 -7.18369607e+01] [-1.64057256e-01 8.76742708e-04 9.86450429e-01 -4.07180985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.93, Y:-71.85, Z:-40.72 [[ 9.35473058e-01 3.17429064e-01 1.55334953e-01 2.35931884e+02] [-3.13029507e-01 9.48281799e-01 -5.26702713e-02 -7.18496731e+01] [-1.64020384e-01 6.47195797e-04 9.86456737e-01 -4.07231403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:-71.86, Z:-40.73 [[ 9.35427844e-01 3.17631153e-01 1.55194073e-01 2.35962108e+02] [-3.13237257e-01 9.48214132e-01 -5.26534072e-02 -7.18618442e+01] [-1.63881575e-01 6.40897582e-04 9.86479812e-01 -4.07291207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63587156000003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:235.99, Y:-71.88, Z:-40.73 [[ 9.35381372e-01 3.17659500e-01 1.55415990e-01 2.35990726e+02] [-3.13247533e-01 9.48204615e-01 -5.27635306e-02 -7.18761443e+01] [-1.64126996e-01 6.70348037e-04 9.86438989e-01 -4.07341292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.02, Y:-71.89, Z:-40.74 [[ 9.35593600e-01 3.17275227e-01 1.54922712e-01 2.36021151e+02] [-3.12882749e-01 9.48333201e-01 -5.26167809e-02 -7.18882248e+01] [-1.63612352e-01 7.55279565e-04 9.86524418e-01 -4.07403519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69587156000003 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:236.05, Y:-71.90, Z:-40.75 [[ 9.35715206e-01 3.17173020e-01 1.54396660e-01 2.36050263e+02] [-3.12803736e-01 9.48367351e-01 -5.24708519e-02 -7.18996782e+01] [-1.63067090e-01 8.01921859e-04 9.86614657e-01 -4.07459419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.08, Y:-71.91, Z:-40.75 [[ 9.36248154e-01 3.16159658e-01 1.53239893e-01 2.36080041e+02] [-3.11837658e-01 9.48705471e-01 -5.21076146e-02 -7.19121912e+01] [-1.61853851e-01 9.99688483e-04 9.86814234e-01 -4.07526658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.11, Y:-71.92, Z:-40.76 [[ 9.36233873e-01 3.16262384e-01 1.53115118e-01 2.36109816e+02] [-3.11943493e-01 9.48671218e-01 -5.20977681e-02 -7.19248371e+01] [-1.61732470e-01 1.01243033e-03 9.86834121e-01 -4.07578315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.14, Y:-71.94, Z:-40.76 [[ 9.36056686e-01 3.16843606e-01 1.52996766e-01 2.36140050e+02] [-3.12533805e-01 9.48477327e-01 -5.20901154e-02 -7.19359938e+01] [-1.61618384e-01 9.42639352e-04 9.86852881e-01 -4.07633016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:-71.95, Z:-40.77 [[ 9.35528927e-01 3.18267197e-01 1.53269755e-01 2.36169250e+02] [-3.13955446e-01 9.48000769e-01 -5.22160799e-02 -7.19469188e+01] [-1.61918511e-01 7.29778888e-04 9.86803863e-01 -4.07687741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.20, Y:-71.96, Z:-40.77 [[ 9.35184200e-01 3.19156920e-01 1.53523199e-01 2.36199717e+02] [-3.14837665e-01 9.47701690e-01 -5.23330897e-02 -7.19582685e+01] [-1.62196663e-01 6.06193200e-04 9.86758266e-01 -4.07740352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87587156000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.23, Y:-71.97, Z:-40.78 [[ 9.34854612e-01 3.20316379e-01 1.53115225e-01 2.36230749e+02] [-3.16030389e-01 9.47310524e-01 -5.22260948e-02 -7.19692481e+01] [-1.61776537e-01 4.34741516e-04 9.86827322e-01 -4.07791343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.26, Y:-71.98, Z:-40.79 [[ 9.34905666e-01 3.20189566e-01 1.53068731e-01 2.36260184e+02] [-3.15899135e-01 9.47353368e-01 -5.22430204e-02 -7.19791403e+01] [-1.61737848e-01 4.88016076e-04 9.86833639e-01 -4.07853867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:-71.99, Z:-40.79 [[ 9.35059435e-01 3.19801591e-01 1.52940494e-01 2.36291031e+02] [-3.15508276e-01 9.47484354e-01 -5.22295519e-02 -7.19899523e+01] [-1.61611819e-01 5.83743540e-04 9.86854234e-01 -4.07912591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.32, Y:-72.00, Z:-40.80 [[ 9.35539283e-01 3.18442172e-01 1.52842512e-01 2.36321701e+02] [-3.14130985e-01 9.47941908e-01 -5.22289463e-02 -7.20007615e+01] [-1.61517721e-01 8.49662279e-04 9.86869446e-01 -4.07971935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:-72.01, Z:-40.80 [[ 9.35778496e-01 3.17860843e-01 1.52587980e-01 2.36350942e+02] [-3.13550954e-01 9.48136869e-01 -5.21754349e-02 -7.20113791e+01] [-1.61258818e-01 9.80543189e-04 9.86911664e-01 -4.08026068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:-72.02, Z:-40.81 [[ 9.36112492e-01 3.16736641e-01 1.52876757e-01 2.36381820e+02] [-3.12392165e-01 9.48512768e-01 -5.22940197e-02 -7.20230643e+01] [-1.61568988e-01 1.19558401e-03 9.86860696e-01 -4.08082189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05587156000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.41, Y:-72.03, Z:-40.81 [[ 9.36186736e-01 3.16436947e-01 1.53042653e-01 2.36412930e+02] [-3.12073673e-01 9.48612682e-01 -5.23832263e-02 -7.20341275e+01] [-1.61754190e-01 1.27989874e-03 9.86830251e-01 -4.08131099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.44, Y:-72.04, Z:-40.82 [[ 9.36450433e-01 3.15373663e-01 1.53623042e-01 2.36443989e+02] [-3.10957342e-01 9.48966385e-01 -5.26149411e-02 -7.20445607e+01] [-1.62376469e-01 1.50107168e-03 9.86727738e-01 -4.08185271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.47, Y:-72.06, Z:-40.82 [[ 9.36463090e-01 3.15295996e-01 1.53705291e-01 2.36473689e+02] [-3.10868326e-01 9.48992118e-01 -5.26767927e-02 -7.20553193e+01] [-1.62473892e-01 1.54776539e-03 9.86711629e-01 -4.08241998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:-72.07, Z:-40.83 [[ 9.36726550e-01 3.14265732e-01 1.54209014e-01 2.36504570e+02] [-3.09789722e-01 9.49333420e-01 -5.28808565e-02 -7.20666975e+01] [-1.63014412e-01 1.76253458e-03 9.86622114e-01 -4.08290761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17587156000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.53, Y:-72.08, Z:-40.83 [[ 9.36696808e-01 3.14122766e-01 1.54680242e-01 2.36534399e+02] [-3.09611512e-01 9.49380616e-01 -5.30769097e-02 -7.20781250e+01] [-1.63523089e-01 1.82618830e-03 9.86537817e-01 -4.08337040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.56, Y:-72.09, Z:-40.84 [[ 9.36873244e-01 3.13485738e-01 1.54903893e-01 2.36564710e+02] [-3.08947349e-01 9.49590863e-01 -5.31857955e-02 -7.20894959e+01] [-1.63768309e-01 1.97120178e-03 9.86496860e-01 -4.08396680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23587156000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.60, Y:-72.10, Z:-40.84 [[ 9.37342452e-01 3.12233898e-01 1.54593402e-01 2.36595533e+02] [-3.07691525e-01 9.50002673e-01 -5.31116421e-02 -7.21007876e+01] [-1.63447400e-01 2.21671729e-03 9.86549560e-01 -4.08448795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.62, Y:-72.11, Z:-40.85 [[ 9.37799898e-01 3.11146969e-01 1.54009465e-01 2.36624925e+02] [-3.06619006e-01 9.50358702e-01 -5.29445221e-02 -7.21116339e+01] [-1.62837763e-01 2.42913824e-03 9.86649868e-01 -4.08515430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:-72.12, Z:-40.86 [[ 9.37846168e-01 3.11157897e-01 1.53705329e-01 2.36655171e+02] [-3.06642978e-01 9.50355066e-01 -5.28709133e-02 -7.21232266e+01] [-1.62525840e-01 2.45212371e-03 9.86701241e-01 -4.08570755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.68, Y:-72.13, Z:-40.86 [[ 9.37892120e-01 3.11249085e-01 1.53239610e-01 2.36684286e+02] [-3.06757384e-01 9.50325181e-01 -5.27442625e-02 -7.21343262e+01] [-1.62044063e-01 2.46104651e-03 9.86780454e-01 -4.08630711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:-72.15, Z:-40.87 [[ 9.37687354e-01 3.12105828e-01 1.52749400e-01 2.36714238e+02] [-3.07649250e-01 9.50044472e-01 -5.26064626e-02 -7.21469166e+01] [-1.61537506e-01 2.33517644e-03 9.86863811e-01 -4.08692130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:-72.16, Z:-40.87 [[ 9.37439052e-01 3.12976660e-01 1.52491420e-01 2.36744181e+02] [-3.08541253e-01 9.49758239e-01 -5.25507729e-02 -7.21578393e+01] [-1.61277148e-01 2.21325298e-03 9.86906674e-01 -4.08748858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:-72.17, Z:-40.88 [[ 9.36904202e-01 3.14886039e-01 1.51846300e-01 2.36775045e+02] [-3.10508283e-01 9.49127573e-01 -5.23589127e-02 -7.21687816e+01] [-1.60608600e-01 1.90575156e-03 9.87016335e-01 -4.08799775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.80, Y:-72.18, Z:-40.89 [[ 9.36502687e-01 3.16117411e-01 1.51764621e-01 2.36804752e+02] [-3.11755057e-01 9.48718507e-01 -5.23639136e-02 -7.21795779e+01] [-1.60535049e-01 1.72555772e-03 9.87028632e-01 -4.08857685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:-72.19, Z:-40.89 [[ 9.36009654e-01 3.17537911e-01 1.51840718e-01 2.36833846e+02] [-3.13184640e-01 9.48244371e-01 -5.24213121e-02 -7.21921922e+01] [-1.60627860e-01 1.51267365e-03 9.87013882e-01 -4.08920196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.86, Y:-72.20, Z:-40.90 [[ 9.35844070e-01 3.17991636e-01 1.51911802e-01 2.36864044e+02] [-3.13635813e-01 9.48092392e-01 -5.24727864e-02 -7.22036948e+01] [-1.60712331e-01 1.46136462e-03 9.87000208e-01 -4.08967978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:-72.21, Z:-40.90 [[ 9.35345579e-01 3.19043266e-01 1.52774480e-01 2.36893879e+02] [-3.14645968e-01 9.47739232e-01 -5.28040079e-02 -7.22146893e+01] [-1.61637131e-01 1.32012123e-03 9.86849378e-01 -4.09014233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.92, Y:-72.23, Z:-40.91 [[ 9.35230633e-01 3.19369033e-01 1.52797529e-01 2.36924420e+02] [-3.14971504e-01 9.47629556e-01 -5.28315839e-02 -7.22257130e+01] [-1.61668226e-01 1.28284813e-03 9.86844334e-01 -4.09066040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.95, Y:-72.24, Z:-40.91 [[ 9.35070199e-01 3.19721659e-01 1.53041769e-01 2.36953363e+02] [-3.15309084e-01 9.47510677e-01 -5.29499730e-02 -7.22366878e+01] [-1.61937963e-01 1.25648201e-03 9.86800141e-01 -4.09126766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62587156000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.98, Y:-72.25, Z:-40.92 [[ 9.35119576e-01 3.19646129e-01 1.52897779e-01 2.36983571e+02] [-3.15235759e-01 9.47536103e-01 -5.29315625e-02 -7.22485366e+01] [-1.61795535e-01 1.29849273e-03 9.86823449e-01 -4.09184018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.01, Y:-72.26, Z:-40.92 [[ 9.35307530e-01 3.18892681e-01 1.53320846e-01 2.37012805e+02] [-3.14442130e-01 9.47789698e-01 -5.31115399e-02 -7.22616698e+01] [-1.62252800e-01 1.46508979e-03 9.86748135e-01 -4.09240996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:-72.27, Z:-40.93 [[ 9.35493226e-01 3.18287885e-01 1.53444602e-01 2.37042092e+02] [-3.13816885e-01 9.47992752e-01 -5.31855659e-02 -7.22741658e+01] [-1.62392692e-01 1.60122938e-03 9.86724911e-01 -4.09296683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:-72.29, Z:-40.94 [[ 9.36259996e-01 3.16340937e-01 1.52792772e-01 2.37071504e+02] [-3.11877430e-01 9.48643543e-01 -5.29895879e-02 -7.22890880e+01] [-1.61708652e-01 1.95941432e-03 9.86836599e-01 -4.09352831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:-72.30, Z:-40.94 [[ 9.36512199e-01 3.15510904e-01 1.52963300e-01 2.37102059e+02] [-3.11021060e-01 9.48919547e-01 -5.30810123e-02 -7.23012031e+01] [-1.61897504e-01 2.13620770e-03 9.86805267e-01 -4.09408281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77587156000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:237.13, Y:-72.31, Z:-40.95 [[ 9.36887930e-01 3.14324422e-01 1.53105076e-01 2.37131303e+02] [-3.09804960e-01 9.49312653e-01 -5.31636461e-02 -7.23148368e+01] [-1.62055218e-01 2.37566657e-03 9.86778832e-01 -4.09455481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.16, Y:-72.33, Z:-40.95 [[ 9.37117648e-01 3.13792033e-01 1.52790947e-01 2.37160528e+02] [-3.09279029e-01 9.49488465e-01 -5.30861269e-02 -7.23275202e+01] [-1.61731245e-01 2.49291067e-03 9.86831693e-01 -4.09515671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83587156000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:-72.34, Z:-40.96 [[ 9.37050252e-01 3.14146300e-01 1.52475989e-01 2.37189475e+02] [-3.09653531e-01 9.49371436e-01 -5.29959188e-02 -7.23426989e+01] [-1.61404821e-01 2.44511061e-03 9.86885254e-01 -4.09571338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86587156000004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:237.22, Y:-72.36, Z:-40.96 [[ 9.36961754e-01 3.14646721e-01 1.51987209e-01 2.37219010e+02] [-3.10184288e-01 9.49205862e-01 -5.28577217e-02 -7.23556641e+01] [-1.60898658e-01 2.38161949e-03 9.86968059e-01 -4.09622809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89587156000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.25, Y:-72.37, Z:-40.97 [[ 9.36720224e-01 3.15830900e-01 1.51016769e-01 2.37246980e+02] [-3.11435738e-01 9.48812956e-01 -5.25524108e-02 -7.23719450e+01] [-1.59884342e-01 2.19488706e-03 9.87133314e-01 -4.09684397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92587156000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:-72.39, Z:-40.97 [[ 9.36348663e-01 3.16996602e-01 1.50878547e-01 2.37277004e+02] [-3.12619721e-01 9.48424516e-01 -5.25342469e-02 -7.23853050e+01] [-1.59750090e-01 2.02276258e-03 9.87155417e-01 -4.09745389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:-72.40, Z:-40.98 [[ 9.35909219e-01 3.18408548e-01 1.50631768e-01 2.37306762e+02] [-3.14059084e-01 9.47951857e-01 -5.24801807e-02 -7.23978810e+01] [-1.59501802e-01 1.80940984e-03 9.87195979e-01 -4.09796588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98587156000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:-72.41, Z:-40.98 [[ 9.34589859e-01 3.22048947e-01 1.51083658e-01 2.37336318e+02] [-3.17715148e-01 9.46722230e-01 -5.26697727e-02 -7.24102688e+01] [-1.59996502e-01 1.22306873e-03 9.87116824e-01 -4.09848772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.37, Y:-72.42, Z:-40.99 [[ 9.32967982e-01 3.26255919e-01 1.52078336e-01 2.37366479e+02] [-3.21915019e-01 9.45281328e-01 -5.30464972e-02 -7.24235751e+01] [-1.61063545e-01 5.34383039e-04 9.86943894e-01 -4.09892104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:-72.44, Z:-41.00 [[ 9.32155831e-01 3.28380583e-01 1.52485077e-01 2.37395952e+02] [-3.24039036e-01 9.44545474e-01 -5.32217122e-02 -7.24355377e+01] [-1.61506066e-01 1.99812083e-04 9.86871699e-01 -4.09950622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.43, Y:-72.45, Z:-41.00 [[ 9.31498766e-01 3.30306553e-01 1.52340505e-01 2.37426337e+02] [-3.25993829e-01 9.43873704e-01 -5.32020082e-02 -7.24477512e+01] [-1.61363168e-01 -1.04459424e-04 9.86895089e-01 -4.10005592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:-72.46, Z:-41.01 [[ 9.30156718e-01 3.34108172e-01 1.52250481e-01 2.37455746e+02] [-3.29845706e-01 9.42534453e-01 -5.32035309e-02 -7.24602849e+01] [-1.61277058e-01 -7.31545666e-04 9.86908899e-01 -4.10057757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:-72.47, Z:-41.01 [[ 9.28934617e-01 3.37506777e-01 1.52215808e-01 2.37485860e+02] [-3.33286542e-01 9.41322212e-01 -5.32219296e-02 -7.24722391e+01] [-1.61246883e-01 -1.29178767e-03 9.86913256e-01 -4.10118304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:-72.48, Z:-41.02 [[ 9.28461891e-01 3.38909935e-01 1.51982148e-01 2.37515141e+02] [-3.34715990e-01 9.40817624e-01 -5.31733438e-02 -7.24838912e+01] [-1.61008458e-01 -1.50143174e-03 9.86951884e-01 -4.10168703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.55, Y:-72.49, Z:-41.02 [[ 9.28434977e-01 3.38986529e-01 1.51975743e-01 2.37546258e+02] [-3.34790608e-01 9.40790039e-01 -5.31916434e-02 -7.24949249e+01] [-1.61008516e-01 -1.49506913e-03 9.86951885e-01 -4.10225649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.58, Y:-72.51, Z:-41.03 [[ 9.28085037e-01 3.40067331e-01 1.51698301e-01 2.37575171e+02] [-3.35899067e-01 9.40399612e-01 -5.31073045e-02 -7.25063723e+01] [-1.60717083e-01 -1.66722324e-03 9.86999108e-01 -4.10279820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.60, Y:-72.52, Z:-41.03 [[ 9.27633736e-01 3.41340562e-01 1.51599051e-01 2.37604668e+02] [-3.37189930e-01 9.39937852e-01 -5.31016494e-02 -7.25178662e+01] [-1.60619433e-01 -1.85879197e-03 9.87014662e-01 -4.10327505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:-72.53, Z:-41.04 [[ 9.27433180e-01 3.41871783e-01 1.51629088e-01 2.37634762e+02] [-3.37721892e-01 9.39744637e-01 -5.31407632e-02 -7.25297337e+01] [-1.60659950e-01 -1.92395557e-03 9.87007943e-01 -4.10386774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.66, Y:-72.54, Z:-41.04 [[ 9.27361686e-01 3.42177626e-01 1.51376272e-01 2.37664592e+02] [-3.38040383e-01 9.39633279e-01 -5.30848438e-02 -7.25420505e+01] [-1.60402628e-01 -1.94244257e-03 9.87049757e-01 -4.10440526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:-72.55, Z:-41.05 [[ 9.27268180e-01 3.42370285e-01 1.51513401e-01 2.37694294e+02] [-3.38222701e-01 9.39563090e-01 -5.31658229e-02 -7.25528155e+01] [-1.60558798e-01 -1.94629611e-03 9.87024359e-01 -4.10495841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.73, Y:-72.56, Z:-41.06 [[ 9.27177605e-01 3.42417541e-01 1.51960247e-01 2.37725274e+02] [-3.38240937e-01 9.39545900e-01 -5.33532654e-02 -7.25637668e+01] [-1.61042721e-01 -1.93122350e-03 9.86945547e-01 -4.10555447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:-72.57, Z:-41.06 [[ 9.27246380e-01 3.42183900e-01 1.52066858e-01 2.37755521e+02] [-3.37992916e-01 9.39631160e-01 -5.34235201e-02 -7.25746981e+01] [-1.61167426e-01 -1.86075514e-03 9.86925326e-01 -4.10610382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.79, Y:-72.59, Z:-41.07 [[ 9.27332800e-01 3.42169904e-01 1.51570559e-01 2.37785703e+02] [-3.38000912e-01 9.39636334e-01 -5.32817354e-02 -7.25858821e+01] [-1.60652610e-01 -1.82108619e-03 9.87009332e-01 -4.10664564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.82, Y:-72.60, Z:-41.07 [[ 9.27245266e-01 3.42341590e-01 1.51718334e-01 2.37815330e+02] [-3.38161082e-01 9.39573799e-01 -5.33681438e-02 -7.25967832e+01] [-1.60820707e-01 -1.81987738e-03 9.86981959e-01 -4.10721482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:-72.61, Z:-41.08 [[ 9.27215967e-01 3.42525800e-01 1.51481443e-01 2.37846189e+02] [-3.38357570e-01 9.39506641e-01 -5.33050307e-02 -7.26076986e+01] [-1.60576170e-01 -1.82961736e-03 9.87021756e-01 -4.10773001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.88, Y:-72.62, Z:-41.08 [[ 9.27093323e-01 3.42870691e-01 1.51451842e-01 2.37876741e+02] [-3.38703391e-01 9.39380773e-01 -5.33270725e-02 -7.26182947e+01] [-1.60555238e-01 -1.85807954e-03 9.87025108e-01 -4.10827113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.91, Y:-72.63, Z:-41.09 [[ 9.26946833e-01 3.43213381e-01 1.51572241e-01 2.37907392e+02] [-3.39038597e-01 9.39255562e-01 -5.34024172e-02 -7.26295710e+01] [-1.60693495e-01 -1.88763838e-03 9.87002552e-01 -4.10876045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.94, Y:-72.64, Z:-41.09 [[ 9.26794646e-01 3.43679356e-01 1.51446970e-01 2.37936818e+02] [-3.39512214e-01 9.39085064e-01 -5.33919392e-02 -7.26390750e+01] [-1.60571295e-01 -1.93473276e-03 9.87022348e-01 -4.10941569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:-72.65, Z:-41.10 [[ 9.26877968e-01 3.43729644e-01 1.50821630e-01 2.37966913e+02] [-3.39592700e-01 9.39066718e-01 -5.32024266e-02 -7.26500164e+01] [-1.59918824e-01 -1.90576740e-03 9.87128329e-01 -4.10998030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.00, Y:-72.66, Z:-41.11 [[ 9.27000060e-01 3.43500001e-01 1.50594281e-01 2.37996946e+02] [-3.39367468e-01 9.39150887e-01 -5.31538592e-02 -7.26614641e+01] [-1.59689103e-01 -1.83316907e-03 9.87165655e-01 -4.11054602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:-72.67, Z:-41.11 [[ 9.27017134e-01 3.43510479e-01 1.50465224e-01 2.38026457e+02] [-3.39379876e-01 9.39147115e-01 -5.31412862e-02 -7.26721576e+01] [-1.59563570e-01 -1.80198622e-03 9.87186011e-01 -4.11110547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:-72.68, Z:-41.12 [[ 9.27359275e-01 3.42895413e-01 1.49758174e-01 2.38056629e+02] [-3.38790950e-01 9.39372121e-01 -5.29217302e-02 -7.26833593e+01] [-1.58825273e-01 -1.65925693e-03 9.87305312e-01 -4.11173874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.09, Y:-72.69, Z:-41.12 [[ 9.27434913e-01 3.42657619e-01 1.49834036e-01 2.38086062e+02] [-3.38540646e-01 9.39459011e-01 -5.29811092e-02 -7.26943917e+01] [-1.58917316e-01 -1.58838077e-03 9.87290618e-01 -4.11227829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.12, Y:-72.71, Z:-41.13 [[ 9.27467024e-01 3.42593543e-01 1.49781788e-01 2.38115355e+02] [-3.38473770e-01 9.39482447e-01 -5.29928217e-02 -7.27051597e+01] [-1.58872359e-01 -1.54811192e-03 9.87297917e-01 -4.11276294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:238.15, Y:-72.72, Z:-41.13 [[ 9.27139413e-01 3.43299640e-01 1.50192764e-01 2.38146056e+02] [-3.39161431e-01 9.39224494e-01 -5.31683442e-02 -7.27154831e+01] [-1.59317396e-01 -1.64512535e-03 9.87226043e-01 -4.11319591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:-72.73, Z:-41.14 [[ 9.26871737e-01 3.43856051e-01 1.50571574e-01 2.38176896e+02] [-3.39698848e-01 9.39020808e-01 -5.33349339e-02 -7.27256397e+01] [-1.59729381e-01 -1.71434754e-03 9.87159352e-01 -4.11382201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:-72.74, Z:-41.14 [[ 9.26285104e-01 3.45288682e-01 1.50902727e-01 2.38208265e+02] [-3.41126644e-01 9.38494530e-01 -5.34848576e-02 -7.27352543e+01] [-1.60089100e-01 -1.93471405e-03 9.87100672e-01 -4.11434440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:238.24, Y:-72.75, Z:-41.15 [[ 9.25869103e-01 3.46409047e-01 1.50887961e-01 2.38239244e+02] [-3.42257315e-01 9.38081219e-01 -5.35122095e-02 -7.27453611e+01] [-1.60082276e-01 -2.09720689e-03 9.87101447e-01 -4.11486352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:-72.75, Z:-41.15 [[ 9.25351488e-01 3.47824945e-01 1.50805940e-01 2.38270770e+02] [-3.43691152e-01 9.37556650e-01 -5.35156071e-02 -7.27543898e+01] [-1.60003175e-01 -2.30992071e-03 9.87113797e-01 -4.11546610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:-72.76, Z:-41.16 [[ 9.25139587e-01 3.48393787e-01 1.50792946e-01 2.38300644e+02] [-3.44262867e-01 9.37345251e-01 -5.35439877e-02 -7.27640240e+01] [-1.59999445e-01 -2.37674924e-03 9.87114243e-01 -4.11604960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.33, Y:-72.77, Z:-41.17 [[ 9.25001387e-01 3.48860405e-01 1.50561789e-01 2.38332066e+02] [-3.44743441e-01 9.37171563e-01 -5.34922557e-02 -7.27720113e+01] [-1.59763557e-01 -2.42477866e-03 9.87152332e-01 -4.11662351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.36, Y:-72.78, Z:-41.17 [[ 9.25024401e-01 3.48855952e-01 1.50430655e-01 2.38362732e+02] [-3.44740934e-01 9.37173306e-01 -5.34778676e-02 -7.27815410e+01] [-1.59635667e-01 -2.39127212e-03 9.87173103e-01 -4.11721231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:-72.79, Z:-41.18 [[ 9.25385343e-01 3.47433217e-01 1.51499595e-01 2.38393032e+02] [-3.43234830e-01 9.37702310e-01 -5.38908980e-02 -7.27898590e+01] [-1.60785008e-01 -2.13009059e-03 9.86987155e-01 -4.11773937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.42, Y:-72.80, Z:-41.18 [[ 9.25664100e-01 3.46458943e-01 1.52026888e-01 2.38423560e+02] [-3.42213055e-01 9.38063133e-01 -5.41089965e-02 -7.28002495e+01] [-1.61357365e-01 -1.93883013e-03 9.86894139e-01 -4.11818525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:-72.81, Z:-41.19 [[ 9.26698504e-01 3.43427386e-01 1.52602466e-01 2.38455017e+02] [-3.39102851e-01 9.39178211e-01 -5.43465168e-02 -7.28099983e+01] [-1.61984994e-01 -1.38509562e-03 9.86792249e-01 -4.11881796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:-72.82, Z:-41.19 [[ 9.27336403e-01 3.41630652e-01 1.52760246e-01 2.38485467e+02] [-3.37267541e-01 9.39833716e-01 -5.44352152e-02 -7.28201685e+01] [-1.62165967e-01 -1.04131574e-03 9.86762948e-01 -4.11937903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.52, Y:-72.83, Z:-41.20 [[ 9.28504645e-01 3.38538449e-01 1.52547839e-01 2.38516049e+02] [-3.34140720e-01 9.40952442e-01 -5.43919220e-02 -7.28293177e+01] [-1.61954019e-01 -4.69292526e-04 9.86798194e-01 -4.11996665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.55, Y:-72.84, Z:-41.21 [[ 9.28977513e-01 3.37464317e-01 1.52048070e-01 2.38547041e+02] [-3.33076349e-01 9.41338287e-01 -5.42436588e-02 -7.28401801e+01] [-1.61433969e-01 -2.52476949e-04 9.86883483e-01 -4.12051983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.58, Y:-72.85, Z:-41.21 [[ 9.29698754e-01 3.35619462e-01 1.51722785e-01 2.38577933e+02] [-3.31220601e-01 9.41997647e-01 -5.41603816e-02 -7.28501754e+01] [-1.61099784e-01 9.91273663e-05 9.86938118e-01 -4.12112580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.61, Y:-72.86, Z:-41.22 [[ 9.29860223e-01 3.35371120e-01 1.51281783e-01 2.38607678e+02] [-3.30989376e-01 9.42086080e-01 -5.40356432e-02 -7.28604392e+01] [-1.60642456e-01 1.72932277e-04 9.87012650e-01 -4.12163036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:-72.87, Z:-41.22 [[ 9.29927789e-01 3.35272385e-01 1.51085191e-01 2.38637778e+02] [-3.30895855e-01 9.42121213e-01 -5.39958612e-02 -7.28709706e+01] [-1.60443884e-01 2.18788358e-04 9.87044939e-01 -4.12221262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.67, Y:-72.88, Z:-41.23 [[ 9.29453406e-01 3.36495539e-01 1.51284895e-01 2.38668644e+02] [-3.32118626e-01 9.41685059e-01 -5.40968293e-02 -7.28812695e+01] [-1.60666067e-01 3.59507548e-05 9.87008821e-01 -4.12274200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.70, Y:-72.89, Z:-41.23 [[ 9.28462684e-01 3.38979573e-01 1.51821915e-01 2.38696491e+02] [-3.34598821e-01 9.40793663e-01 -5.43222958e-02 -7.28892708e+01] [-1.61247244e-01 -3.63209160e-04 9.86913975e-01 -4.12320540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:-72.90, Z:-41.24 [[ 9.27860708e-01 3.40596859e-01 1.51882478e-01 2.38725341e+02] [-3.36234437e-01 9.40209212e-01 -5.43418933e-02 -7.28982938e+01] [-1.61309983e-01 -6.46411821e-04 9.86903578e-01 -4.12367872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:-72.91, Z:-41.24 [[ 9.27216164e-01 3.42235209e-01 1.52135620e-01 2.38752158e+02] [-3.37879981e-01 9.39613853e-01 -5.44327664e-02 -7.29065220e+01] [-1.61577545e-01 -9.32639464e-04 9.86859578e-01 -4.12414429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.78, Y:-72.91, Z:-41.25 [[ 9.26084770e-01 3.45258847e-01 1.52195032e-01 2.38780237e+02] [-3.40941644e-01 9.38506356e-01 -5.44482796e-02 -7.29138765e+01] [-1.61634755e-01 -1.46590211e-03 9.86849561e-01 -4.12462244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.81, Y:-72.92, Z:-41.25 [[ 9.25685999e-01 3.46350122e-01 1.52141459e-01 2.38807124e+02] [-3.42051868e-01 9.38103847e-01 -5.44214332e-02 -7.29220078e+01] [-1.61573358e-01 -1.66311154e-03 9.86859303e-01 -4.12516952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:-72.93, Z:-41.26 [[ 9.24971975e-01 3.48498476e-01 1.51577236e-01 2.38837267e+02] [-3.44262215e-01 9.37307131e-01 -5.42113456e-02 -7.29295414e+01] [-1.60966995e-01 -2.03833953e-03 9.86957685e-01 -4.12564410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.87, Y:-72.94, Z:-41.26 [[ 9.24695187e-01 3.49241052e-01 1.51556916e-01 2.38865692e+02] [-3.45015155e-01 9.37030420e-01 -5.42082597e-02 -7.29378796e+01] [-1.60945190e-01 -2.16331597e-03 9.86960975e-01 -4.12613441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:-72.94, Z:-41.27 [[ 9.24080652e-01 3.50612660e-01 1.52137144e-01 2.38892022e+02] [-3.46372088e-01 9.36517464e-01 -5.44188888e-02 -7.29430506e+01] [-1.61559043e-01 -2.40861788e-03 9.86860109e-01 -4.12653702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.92, Y:-72.95, Z:-41.27 [[ 9.23741304e-01 3.51341449e-01 1.52516192e-01 2.38920485e+02] [-3.47091728e-01 9.36243908e-01 -5.45406041e-02 -7.29510304e+01] [-1.61954730e-01 -2.55569982e-03 9.86794879e-01 -4.12704975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.95, Y:-72.96, Z:-41.28 [[ 9.23399007e-01 3.52060454e-01 1.52930412e-01 2.38950085e+02] [-3.47797970e-01 9.35973388e-01 -5.46844498e-02 -7.29569973e+01] [-1.62391028e-01 -2.69332003e-03 9.86722808e-01 -4.12762748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.98, Y:-72.96, Z:-41.28 [[ 9.23374233e-01 3.52124957e-01 1.52931494e-01 2.38978787e+02] [-3.47863291e-01 9.35949090e-01 -5.46848368e-02 -7.29649425e+01] [-1.62391988e-01 -2.70468348e-03 9.86722619e-01 -4.12811368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.01, Y:-72.97, Z:-41.29 [[ 9.23662080e-01 3.51556358e-01 1.52500782e-01 2.39007239e+02] [-3.47311060e-01 9.36163118e-01 -5.45311328e-02 -7.29698254e+01] [-1.61936374e-01 -2.59686871e-03 9.86797784e-01 -4.12858454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:-72.98, Z:-41.29 [[ 9.23936728e-01 3.50928375e-01 1.52283285e-01 2.39034125e+02] [-3.46687787e-01 9.36398997e-01 -5.44472017e-02 -7.29773905e+01] [-1.61704983e-01 -2.48898572e-03 9.86836006e-01 -4.12910119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.06, Y:-72.98, Z:-41.30 [[ 9.24371032e-01 3.49849578e-01 1.52129774e-01 2.39060796e+02] [-3.45604361e-01 9.36803052e-01 -5.43844413e-02 -7.29847959e+01] [-1.61542011e-01 -2.30531143e-03 9.86863144e-01 -4.12959213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:-72.99, Z:-41.30 [[ 9.25166708e-01 3.47579037e-01 1.52497135e-01 2.39088193e+02] [-3.43284340e-01 9.37648714e-01 -5.45045916e-02 -7.29895326e+01] [-1.61933396e-01 -1.92404485e-03 9.86799814e-01 -4.13000375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.12, Y:-73.00, Z:-41.30 [[ 9.25694240e-01 3.46068007e-01 1.52732148e-01 2.39116155e+02] [-3.41741381e-01 9.38207939e-01 -5.45773963e-02 -7.29968063e+01] [-1.62182005e-01 -1.67291383e-03 9.86759443e-01 -4.13048653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.14, Y:-73.00, Z:-41.31 [[ 9.27039476e-01 3.42697182e-01 1.52172439e-01 2.39143713e+02] [-3.38358576e-01 9.39445294e-01 -5.43692312e-02 -7.30032018e+01] [-1.61589864e-01 -1.08642630e-03 9.86857404e-01 -4.13096847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.17, Y:-73.01, Z:-41.31 [[ 9.27754628e-01 3.40770274e-01 1.52141285e-01 2.39169544e+02] [-3.36409017e-01 9.40146289e-01 -5.43500471e-02 -7.30109921e+01] [-1.61555945e-01 -7.58192517e-04 9.86863264e-01 -4.13146847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:-73.02, Z:-41.32 [[ 9.29156287e-01 3.36843034e-01 1.52333073e-01 2.39196448e+02] [-3.32419853e-01 9.41560812e-01 -5.44084396e-02 -7.30181400e+01] [-1.61757956e-01 -8.45940173e-05 9.86830460e-01 -4.13195464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:239.22, Y:-73.03, Z:-41.32 [[ 9.29856152e-01 3.34867681e-01 1.52417756e-01 2.39222597e+02] [-3.30414956e-01 9.42265129e-01 -5.44277755e-02 -7.30262271e+01] [-1.61844039e-01 2.48895784e-04 9.86816318e-01 -4.13228114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.25, Y:-73.03, Z:-41.33 [[ 9.30487370e-01 3.32874703e-01 1.52930332e-01 2.39248951e+02] [-3.28366822e-01 9.42970884e-01 -5.45998453e-02 -7.30339946e+01] [-1.62383757e-01 5.87219437e-04 9.86727506e-01 -4.13284847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.28, Y:-73.04, Z:-41.33 [[ 9.31622644e-01 3.29661316e-01 1.52979301e-01 2.39276608e+02] [-3.25109295e-01 9.44098577e-01 -5.46060706e-02 -7.30425362e+01] [-1.62429049e-01 1.13725922e-03 9.86719570e-01 -4.13331565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.31, Y:-73.05, Z:-41.34 [[ 9.32600350e-01 3.26987452e-01 1.52760573e-01 2.39306127e+02] [-3.22413789e-01 9.45027333e-01 -5.45223607e-02 -7.30536916e+01] [-1.62191045e-01 1.59545760e-03 9.86758086e-01 -4.13389074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:-73.06, Z:-41.34 [[ 9.32968135e-01 3.26097307e-01 1.52417212e-01 2.39335961e+02] [-3.21527801e-01 9.45334544e-01 -5.44286040e-02 -7.30645756e+01] [-1.61834277e-01 1.77378219e-03 9.86816356e-01 -4.13447737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.36, Y:-73.07, Z:-41.35 [[ 9.33248468e-01 3.25616228e-01 1.51727948e-01 2.39364988e+02] [-3.21077260e-01 9.45500160e-01 -5.42110727e-02 -7.30748601e+01] [-1.61110804e-01 1.87600686e-03 9.86934542e-01 -4.13498916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.39, Y:-73.08, Z:-41.35 [[ 9.33271852e-01 3.25553411e-01 1.51718906e-01 2.39392242e+02] [-3.21009507e-01 9.45521715e-01 -5.42363648e-02 -7.30844719e+01] [-1.61110354e-01 1.91406128e-03 9.86934542e-01 -4.13548747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.42, Y:-73.09, Z:-41.36 [[ 9.33365526e-01 3.25629257e-01 1.50978082e-01 2.39419909e+02] [-3.21133005e-01 9.45495667e-01 -5.39586649e-02 -7.30928505e+01] [-1.60319642e-01 1.87911270e-03 9.87063362e-01 -4.13602206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:-73.10, Z:-41.36 [[ 9.33176737e-01 3.26128642e-01 1.51067161e-01 2.39446337e+02] [-3.21634124e-01 9.45323702e-01 -5.39869301e-02 -7.31011092e+01] [-1.60414052e-01 1.79099311e-03 9.87048187e-01 -4.13645601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.47, Y:-73.11, Z:-41.37 [[ 9.32189228e-01 3.28770702e-01 1.51436684e-01 2.39473032e+02] [-3.24290211e-01 9.44408839e-01 -5.41091804e-02 -7.31087548e+01] [-1.60807656e-01 1.33056100e-03 9.86984867e-01 -4.13684771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:239.50, Y:-73.12, Z:-41.37 [[ 9.31570483e-01 3.30509425e-01 1.51459419e-01 2.39500061e+02] [-3.26051968e-01 9.43802139e-01 -5.41076482e-02 -7.31174143e+01] [-1.60830811e-01 1.02144655e-03 9.86981462e-01 -4.13721866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.53, Y:-73.12, Z:-41.38 [[ 9.30314111e-01 3.33718741e-01 1.52142882e-01 2.39525513e+02] [-3.29264492e-01 9.42672578e-01 -5.43443276e-02 -7.31239905e+01] [-1.61556643e-01 4.62046153e-04 9.86863333e-01 -4.13768359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.55, Y:-73.13, Z:-41.38 [[ 9.29783696e-01 3.34967457e-01 1.52640366e-01 2.39553148e+02] [-3.30502813e-01 9.42229669e-01 -5.45081809e-02 -7.31317881e+01] [-1.62080748e-01 2.32747715e-04 9.86777471e-01 -4.13824816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.58, Y:-73.14, Z:-41.39 [[ 9.29096386e-01 3.36584937e-01 1.53266064e-01 2.39578836e+02] [-3.32106501e-01 9.41653109e-01 -5.47238088e-02 -7.31383329e+01] [-1.62742676e-01 -5.69633038e-05 9.86668545e-01 -4.13871146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.61, Y:-73.15, Z:-41.39 [[ 9.29011772e-01 3.36786286e-01 1.53336640e-01 2.39605598e+02] [-3.32308744e-01 9.41581110e-01 -5.47349292e-02 -7.31467728e+01] [-1.62812857e-01 -1.05712526e-04 9.86656963e-01 -4.13920134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.63, Y:-73.15, Z:-41.40 [[ 9.29161460e-01 3.36779405e-01 1.52442164e-01 2.39631952e+02] [-3.32356132e-01 9.41583570e-01 -5.44038793e-02 -7.31538612e+01] [-1.61859144e-01 -1.15100234e-04 9.86813865e-01 -4.13971873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.66, Y:-73.16, Z:-41.40 [[ 9.29398822e-01 3.36489124e-01 1.51634096e-01 2.39656965e+02] [-3.32110968e-01 9.41687349e-01 -5.41039840e-02 -7.31617164e+01] [-1.60997312e-01 -7.51673772e-05 9.86954842e-01 -4.14015923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.68, Y:-73.17, Z:-41.41 [[ 9.29633986e-01 3.36224225e-01 1.50777728e-01 2.39682350e+02] [-3.31894423e-01 9.41781964e-01 -5.37849723e-02 -7.31700507e+01] [-1.60083556e-01 -4.19488977e-05 9.87103466e-01 -4.14071056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.71, Y:-73.18, Z:-41.41 [[ 9.29641804e-01 3.36267973e-01 1.50631890e-01 2.39707793e+02] [-3.31949342e-01 9.41766344e-01 -5.37195295e-02 -7.31782258e+01] [-1.59924202e-01 -6.22364537e-05 9.87129295e-01 -4.14117931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:-73.18, Z:-41.42 [[ 9.29355716e-01 3.37064578e-01 1.50616809e-01 2.39735880e+02] [-3.32759420e-01 9.41481506e-01 -5.37004961e-02 -7.31849708e+01] [-1.59903475e-01 -2.12298987e-04 9.87132632e-01 -4.14164636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:239.76, Y:-73.19, Z:-41.42 [[ 9.29165591e-01 3.37632904e-01 1.50516867e-01 2.39762628e+02] [-3.33342186e-01 9.41277813e-01 -5.36569288e-02 -7.31933891e+01] [-1.59794532e-01 -3.17449316e-04 9.87150245e-01 -4.14206338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.79, Y:-73.20, Z:-41.43 [[ 9.28937524e-01 3.38335571e-01 1.50346659e-01 2.39788308e+02] [-3.34065344e-01 9.41025420e-01 -5.35864177e-02 -7.31999101e+01] [-1.59610219e-01 -4.47174256e-04 9.87180013e-01 -4.14261634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.81, Y:-73.21, Z:-41.43 [[ 9.28877865e-01 3.38527614e-01 1.50282958e-01 2.39814687e+02] [-3.34265676e-01 9.40956328e-01 -5.35504023e-02 -7.32074183e+01] [-1.59537990e-01 -4.92651202e-04 9.87191667e-01 -4.14316311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.84, Y:-73.21, Z:-41.44 [[ 9.28614279e-01 3.39222545e-01 1.50344889e-01 2.39841295e+02] [-3.34967912e-01 9.40705946e-01 -5.35613751e-02 -7.32130978e+01] [-1.59599557e-01 -6.22855953e-04 9.87181642e-01 -4.14364385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.87, Y:-73.22, Z:-41.44 [[ 9.28618502e-01 3.39313484e-01 1.50113411e-01 2.39867293e+02] [-3.35075302e-01 9.40673130e-01 -5.34659238e-02 -7.32204839e+01] [-1.59349361e-01 -6.49850621e-04 9.87222041e-01 -4.14406050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:-73.23, Z:-41.45 [[ 9.28658817e-01 3.38982370e-01 1.50611267e-01 2.39894161e+02] [-3.34713459e-01 9.40792530e-01 -5.36312906e-02 -7.32257882e+01] [-1.59874017e-01 -6.06447446e-04 9.87137240e-01 -4.14456455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.92, Y:-73.23, Z:-41.45 [[ 9.28775353e-01 3.38752043e-01 1.50410764e-01 2.39921178e+02] [-3.34496523e-01 9.40875496e-01 -5.35292127e-02 -7.32339704e+01] [-1.59650932e-01 -5.95264249e-04 9.87173351e-01 -4.14496510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.95, Y:-73.24, Z:-41.46 [[ 9.29119048e-01 3.37854281e-01 1.50307281e-01 2.39947291e+02] [-3.33594903e-01 9.41198321e-01 -5.34804698e-02 -7.32404529e+01] [-1.59537567e-01 -4.52019750e-04 9.87191755e-01 -4.14551695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.97, Y:-73.25, Z:-41.46 [[ 9.29385524e-01 3.37040446e-01 1.50486831e-01 2.39972816e+02] [-3.32762496e-01 9.41490112e-01 -5.35302695e-02 -7.32473896e+01] [-1.59723730e-01 -3.26116115e-04 9.87161701e-01 -4.14596727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.77587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:240.00, Y:-73.25, Z:-41.46 [[ 9.29840436e-01 3.35730875e-01 1.50603931e-01 2.40000601e+02] [-3.31431212e-01 9.41957943e-01 -5.35591699e-02 -7.32520343e+01] [-1.59844036e-01 -1.13361371e-04 9.87142275e-01 -4.14627391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:240.03, Y:-73.26, Z:-41.47 [[ 9.29984669e-01 3.35189724e-01 1.50918404e-01 2.40026145e+02] [-3.30866839e-01 9.42150650e-01 -5.36589916e-02 -7.32591749e+01] [-1.60173815e-01 -3.18558529e-05 9.87088825e-01 -4.14670491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.05, Y:-73.27, Z:-41.47 [[ 9.30062375e-01 3.34654601e-01 1.51625447e-01 2.40053114e+02] [-3.30286103e-01 9.42340860e-01 -5.38961460e-02 -7.32666243e+01] [-1.60919447e-01 4.69995399e-05 9.86967542e-01 -4.14727391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.08, Y:-73.27, Z:-41.48 [[ 9.30323964e-01 3.33736951e-01 1.52042655e-01 2.40080162e+02] [-3.29334019e-01 9.42666224e-01 -5.40323485e-02 -7.32726434e+01] [-1.61358067e-01 1.94769935e-04 9.86895910e-01 -4.14774944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.11, Y:-73.28, Z:-41.48 [[ 9.30647874e-01 3.32944662e-01 1.51797188e-01 2.40107567e+02] [-3.28547554e-01 9.42946313e-01 -5.39328775e-02 -7.32791568e+01] [-1.61093262e-01 3.19923167e-04 9.86939136e-01 -4.14821663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:240.13, Y:-73.29, Z:-41.49 [[ 9.30766684e-01 3.32523831e-01 1.51991057e-01 2.40133283e+02] [-3.28111826e-01 9.43094776e-01 -5.39895680e-02 -7.32866013e+01] [-1.61294790e-01 3.81627895e-04 9.86906199e-01 -4.14863940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.16, Y:-73.29, Z:-41.49 [[ 9.30909839e-01 3.32194513e-01 1.51834373e-01 2.40159808e+02] [-3.27789642e-01 9.43210806e-01 -5.39196204e-02 -7.32938851e+01] [-1.61123623e-01 4.24570420e-04 9.86934141e-01 -4.14918084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.19, Y:-73.30, Z:-41.50 [[ 9.31136801e-01 3.31691874e-01 1.51541277e-01 2.40186425e+02] [-3.27299403e-01 9.43387647e-01 -5.38038007e-02 -7.32988827e+01] [-1.60808452e-01 4.99329350e-04 9.86985508e-01 -4.14964816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.21, Y:-73.31, Z:-41.50 [[ 9.31187463e-01 3.31479351e-01 1.51694921e-01 2.40212728e+02] [-3.27078666e-01 9.43462333e-01 -5.38365352e-02 -7.33063097e+01] [-1.60964144e-01 5.15734249e-04 9.86960120e-01 -4.15009888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.24, Y:-73.31, Z:-41.51 [[ 9.31121937e-01 3.31654988e-01 1.51713239e-01 2.40239588e+02] [-3.27257503e-01 9.43400628e-01 -5.38310560e-02 -7.33134244e+01] [-1.60979703e-01 4.73981427e-04 9.86957603e-01 -4.15051461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.27, Y:-73.32, Z:-41.51 [[ 9.31114737e-01 3.31679008e-01 1.51704921e-01 2.40265511e+02] [-3.27284271e-01 9.43392191e-01 -5.38161733e-02 -7.33207092e+01] [-1.60966933e-01 4.58397681e-04 9.86959693e-01 -4.15097807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.29, Y:-73.33, Z:-41.51 [[ 9.31013797e-01 3.31792887e-01 1.52074951e-01 2.40291893e+02] [-3.27380351e-01 9.43352160e-01 -5.39333591e-02 -7.33267326e+01] [-1.61354938e-01 4.26350616e-04 9.86896348e-01 -4.15143387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.32, Y:-73.33, Z:-41.52 [[ 9.31071371e-01 3.31644665e-01 1.52045777e-01 2.40318426e+02] [-3.27234144e-01 9.43404274e-01 -5.39091014e-02 -7.33346917e+01] [-1.61319302e-01 4.38651270e-04 9.86902169e-01 -4.15189823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.34, Y:-73.34, Z:-41.52 [[ 9.31116045e-01 3.31550846e-01 1.51976801e-01 2.40344701e+02] [-3.27145070e-01 9.43437247e-01 -5.38726592e-02 -7.33424943e+01] [-1.61242100e-01 4.43236312e-04 9.86914783e-01 -4.15226640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.37, Y:-73.35, Z:-41.53 [[ 9.31154833e-01 3.31466709e-01 1.51922672e-01 2.40370443e+02] [-3.27064992e-01 9.43466810e-01 -5.38411447e-02 -7.33480166e+01] [-1.61180546e-01 4.45854662e-04 9.86924837e-01 -4.15283700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.40, Y:-73.36, Z:-41.53 [[ 9.31253455e-01 3.31384092e-01 1.51497807e-01 2.40396736e+02] [-3.27008389e-01 9.43495832e-01 -5.36761437e-02 -7.33566502e+01] [-1.60724969e-01 4.45040644e-04 9.86999132e-01 -4.15331847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:240.42, Y:-73.36, Z:-41.54 [[ 9.31629025e-01 3.30690409e-01 1.50702401e-01 2.40423249e+02] [-3.26353750e-01 9.43739133e-01 -5.33823833e-02 -7.33647500e+01] [-1.59876796e-01 5.50283927e-04 9.87136823e-01 -4.15372752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:-73.37, Z:-41.54 [[ 9.31809962e-01 3.30239673e-01 1.50572088e-01 2.40449451e+02] [-3.25906688e-01 9.43896912e-01 -5.33240136e-02 -7.33723767e+01] [-1.59734234e-01 6.15396452e-04 9.87159863e-01 -4.15426359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.48, Y:-73.38, Z:-41.55 [[ 9.31750678e-01 3.30289924e-01 1.50828512e-01 2.40475588e+02] [-3.25944681e-01 9.43879341e-01 -5.34027556e-02 -7.33788068e+01] [-1.60002309e-01 5.96302482e-04 9.87116460e-01 -4.15466907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.50, Y:-73.39, Z:-41.55 [[ 9.31556226e-01 3.30782978e-01 1.50949062e-01 2.40502277e+02] [-3.26439496e-01 9.43706720e-01 -5.34310994e-02 -7.33865199e+01] [-1.60125743e-01 4.98337590e-04 9.87096499e-01 -4.15508043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.53, Y:-73.39, Z:-41.55 [[ 9.31038586e-01 3.31838424e-01 1.51823617e-01 2.40528581e+02] [-3.27460042e-01 9.43336189e-01 -5.37285329e-02 -7.33929229e+01] [-1.61049904e-01 3.07169438e-04 9.86946216e-01 -4.15546026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.55, Y:-73.40, Z:-41.56 [[ 9.30916454e-01 3.32038514e-01 1.52134744e-01 2.40554347e+02] [-3.27647041e-01 9.43265794e-01 -5.38243275e-02 -7.34019462e+01] [-1.61375250e-01 2.59453395e-04 9.86893085e-01 -4.15600133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.58, Y:-73.41, Z:-41.57 [[ 9.30813788e-01 3.32262829e-01 1.52273126e-01 2.40579005e+02] [-3.27868282e-01 9.43186815e-01 -5.38611267e-02 -7.34111238e+01] [-1.61518055e-01 2.09151173e-04 9.86869735e-01 -4.15650222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:-73.42, Z:-41.57 [[ 9.30788083e-01 3.32446733e-01 1.52028662e-01 2.40605517e+02] [-3.28071157e-01 9.43122019e-01 -5.37603275e-02 -7.34194875e+01] [-1.61254024e-01 1.63252982e-04 9.86912921e-01 -4.15699859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.63, Y:-73.43, Z:-41.58 [[ 9.30751486e-01 3.32761585e-01 1.51563185e-01 2.40632322e+02] [-3.28419052e-01 9.43010985e-01 -5.35836554e-02 -7.34267334e+01] [-1.60756331e-01 9.68292463e-05 9.86994120e-01 -4.15751951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.66, Y:-73.44, Z:-41.58 [[ 9.30806623e-01 3.32645636e-01 1.51479076e-01 2.40658826e+02] [-3.28308430e-01 9.43051891e-01 -5.35416185e-02 -7.34350592e+01] [-1.60663015e-01 1.05035349e-04 9.87009313e-01 -4.15796800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.69, Y:-73.44, Z:-41.58 [[ 9.31168238e-01 3.31834912e-01 1.51034116e-01 2.40685775e+02] [-3.27514702e-01 9.43337446e-01 -5.33721212e-02 -7.34424196e+01] [-1.60186870e-01 2.32530576e-04 9.87086679e-01 -4.15843979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.71, Y:-73.45, Z:-41.59 [[ 9.31439835e-01 3.31148745e-01 1.50865311e-01 2.40711540e+02] [-3.26831316e-01 9.43578505e-01 -5.33000622e-02 -7.34511117e+01] [-1.60003513e-01 3.38293179e-04 9.87116387e-01 -4.15893888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.74, Y:-73.46, Z:-41.59 [[ 9.32225693e-01 3.29130119e-01 1.50428130e-01 2.40736810e+02] [-3.24813692e-01 9.44284340e-01 -5.31333325e-02 -7.34602114e+01] [-1.59534707e-01 6.71141528e-04 9.87192092e-01 -4.15939818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.76, Y:-73.47, Z:-41.60 [[ 9.32663047e-01 3.27753112e-01 1.50723384e-01 2.40763390e+02] [-3.23404114e-01 9.44762985e-01 -5.32229431e-02 -7.34693002e+01] [-1.59841860e-01 8.94509807e-04 9.87142229e-01 -4.15985413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.79, Y:-73.48, Z:-41.60 [[ 9.33626539e-01 3.24546793e-01 1.51693327e-01 2.40789765e+02] [-3.20101157e-01 9.45868543e-01 -5.35532298e-02 -7.34779733e+01] [-1.60862475e-01 1.44150699e-03 9.86975778e-01 -4.16028559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.81, Y:-73.49, Z:-41.61 [[ 9.34286701e-01 3.22644046e-01 1.51687771e-01 2.40814878e+02] [-3.18175835e-01 9.46518744e-01 -5.35388290e-02 -7.34874343e+01] [-1.60849302e-01 1.75723292e-03 9.86977413e-01 -4.16072263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.84, Y:-73.50, Z:-41.61 [[ 9.35757298e-01 3.18447550e-01 1.51490718e-01 2.40839994e+02] [-3.13938695e-01 9.47937286e-01 -5.34546368e-02 -7.34987529e+01] [-1.60626198e-01 2.46176806e-03 9.87012241e-01 -4.16123053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:-73.51, Z:-41.62 [[ 9.36989860e-01 3.14940517e-01 1.51203418e-01 2.40865249e+02] [-3.10405442e-01 9.49106524e-01 -5.33410460e-02 -7.35104850e+01] [-1.60307407e-01 3.04565550e-03 9.87062439e-01 -4.16173764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:240.89, Y:-73.52, Z:-41.62 [[ 9.37824596e-01 3.14458162e-01 1.46973096e-01 2.40893065e+02] [-3.08939096e-01 9.49213551e-01 -5.95841368e-02 -7.35174590e+01] [-1.58245572e-01 1.04737338e-02 9.87344236e-01 -4.16201363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.91, Y:-73.54, Z:-41.63 [[ 9.37691913e-01 3.11773751e-01 1.53398189e-01 2.40914242e+02] [-3.08288346e-01 9.50149661e-01 -4.66252882e-02 -7.35363483e+01] [-1.60287778e-01 -3.57071814e-03 9.87063867e-01 -4.16281703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.94, Y:-73.54, Z:-41.63 [[ 9.37855582e-01 3.12521857e-01 1.50854224e-01 2.40940608e+02] [-3.07982988e-01 9.49904434e-01 -5.31793704e-02 -7.35443880e+01] [-1.59916812e-01 3.41403469e-03 9.87124591e-01 -4.16315763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.97, Y:-73.55, Z:-41.64 [[ 9.37637032e-01 3.12942138e-01 1.51340722e-01 2.40966380e+02] [-3.08381126e-01 9.49766313e-01 -5.33388314e-02 -7.35549762e+01] [-1.60430287e-01 3.34184140e-03 9.87041516e-01 -4.16362626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.99, Y:-73.57, Z:-41.64 [[ 9.37082602e-01 3.14286340e-01 1.51987810e-01 2.40991331e+02] [-3.09705539e-01 9.49323129e-01 -5.35544196e-02 -7.35671431e+01] [-1.61116966e-01 3.11344818e-03 9.86930408e-01 -4.16405278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.02, Y:-73.58, Z:-41.64 [[ 9.36597928e-01 3.15556146e-01 1.52343821e-01 2.41016515e+02] [-3.10972039e-01 9.48902499e-01 -5.36697119e-02 -7.35775499e+01] [-1.61495240e-01 2.89227248e-03 9.86869253e-01 -4.16447150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.04, Y:-73.59, Z:-41.65 [[ 9.35467716e-01 3.18737977e-01 1.52663859e-01 2.41042762e+02] [-3.14178497e-01 9.47839988e-01 -5.37701549e-02 -7.35894011e+01] [-1.61839501e-01 2.33654208e-03 9.86814327e-01 -4.16492869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.07, Y:-73.60, Z:-41.65 [[ 9.35491432e-01 3.18667155e-01 1.52666386e-01 2.41070045e+02] [-3.14107909e-01 9.47863790e-01 -5.37629797e-02 -7.35989118e+01] [-1.61839435e-01 2.34108754e-03 9.86814327e-01 -4.16542764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.10, Y:-73.61, Z:-41.66 [[ 9.35058325e-01 3.20030064e-01 1.52468645e-01 2.41095087e+02] [-3.15502766e-01 9.47405082e-01 -5.36806834e-02 -7.36090072e+01] [-1.61629001e-01 2.09029073e-03 9.86849379e-01 -4.16592071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.12, Y:-73.62, Z:-41.66 [[ 9.34414343e-01 3.22269030e-01 1.51698739e-01 2.41119645e+02] [-3.17819887e-01 9.46646639e-01 -5.33915685e-02 -7.36206358e+01] [-1.60811551e-01 1.67697122e-03 9.86983705e-01 -4.16645224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.14, Y:-73.63, Z:-41.67 [[ 9.34208122e-01 3.22988369e-01 1.51438761e-01 2.41144617e+02] [-3.18565885e-01 9.46401683e-01 -5.32881975e-02 -7.36308547e+01] [-1.60533366e-01 1.53904414e-03 9.87029214e-01 -4.16692944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:241.17, Y:-73.64, Z:-41.67 [[ 9.33828668e-01 3.24311576e-01 1.50950391e-01 2.41169260e+02] [-3.19937201e-01 9.45949432e-01 -5.31023508e-02 -7.36429735e+01] [-1.60013143e-01 1.29385209e-03 9.87114036e-01 -4.16730425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.19, Y:-73.65, Z:-41.68 [[ 9.33622351e-01 3.24815617e-01 1.51142717e-01 2.41194274e+02] [-3.20438623e-01 9.45776603e-01 -5.31573729e-02 -7.36528562e+01] [-1.60213590e-01 1.19694732e-03 9.87081644e-01 -4.16785670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.22, Y:-73.66, Z:-41.68 [[ 9.33064737e-01 3.26313574e-01 1.51359333e-01 2.41219527e+02] [-3.21945175e-01 9.45261120e-01 -5.32233030e-02 -7.36642783e+01] [-1.60441579e-01 9.31380207e-04 9.87044899e-01 -4.16832527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.25, Y:-73.67, Z:-41.69 [[ 9.32742703e-01 3.27221547e-01 1.51383976e-01 2.41245859e+02] [-3.22865556e-01 9.44947340e-01 -5.32198935e-02 -7.36738694e+01] [-1.60464582e-01 7.63795714e-04 9.87041303e-01 -4.16879128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:-73.68, Z:-41.69 [[ 9.31869507e-01 3.29530655e-01 1.51752330e-01 2.41271904e+02] [-3.25185689e-01 9.44144809e-01 -5.33371055e-02 -7.36831013e+01] [-1.60852386e-01 3.55536088e-04 9.86978411e-01 -4.16919139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:-73.69, Z:-41.70 [[ 9.31411650e-01 3.30652234e-01 1.52123104e-01 2.41297461e+02] [-3.26302740e-01 9.43752657e-01 -5.34550695e-02 -7.36926335e+01] [-1.61241621e-01 1.50488999e-04 9.86914949e-01 -4.16965775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:-73.70, Z:-41.70 [[ 9.31089334e-01 3.31352865e-01 1.52571068e-01 2.41322352e+02] [-3.26988903e-01 9.43506905e-01 -5.36001721e-02 -7.37015852e+01] [-1.61712427e-01 1.75023456e-05 9.86837925e-01 -4.17009423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:-73.71, Z:-41.71 [[ 9.30633082e-01 3.32173725e-01 1.53566543e-01 2.41347519e+02] [-3.27765694e-01 9.43218213e-01 -5.39356328e-02 -7.37102266e+01] [-1.62762760e-01 -1.39560416e-04 9.86665224e-01 -4.17050328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.37, Y:-73.72, Z:-41.71 [[ 9.30824621e-01 3.31477106e-01 1.53910539e-01 2.41373282e+02] [-3.27043395e-01 9.43463262e-01 -5.40341660e-02 -7.37204359e+01] [-1.63120028e-01 -3.90930427e-05 9.86606231e-01 -4.17096800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:-73.73, Z:-41.71 [[ 9.31175774e-01 3.30465331e-01 1.53962149e-01 2.41398894e+02] [-3.26016918e-01 9.43818123e-01 -5.40399841e-02 -7.37297222e+01] [-1.63170608e-01 1.26458512e-04 9.86597860e-01 -4.17149066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.42, Y:-73.74, Z:-41.72 [[ 9.31598913e-01 3.29144815e-01 1.54230851e-01 2.41424954e+02] [-3.24664836e-01 9.44279392e-01 -5.41218399e-02 -7.37389353e+01] [-1.63450937e-01 3.46513343e-04 9.86551403e-01 -4.17194282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.45, Y:-73.75, Z:-41.72 [[ 9.32499799e-01 3.26333735e-01 1.54759230e-01 2.41451762e+02] [-3.21786404e-01 9.45254254e-01 -5.42946231e-02 -7.37486496e+01] [-1.64004988e-01 8.30308939e-04 9.86459160e-01 -4.17239507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.48, Y:-73.76, Z:-41.73 [[ 9.33544929e-01 3.23691071e-01 1.54006350e-01 2.41476628e+02] [-3.19153830e-01 9.46161958e-01 -5.40220472e-02 -7.37603866e+01] [-1.63201404e-01 1.28029174e-03 9.86591943e-01 -4.17291969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.50, Y:-73.77, Z:-41.73 [[ 9.34027948e-01 3.22569955e-01 1.53428864e-01 2.41502807e+02] [-3.18053640e-01 9.46544501e-01 -5.38088341e-02 -7.37718630e+01] [-1.62584360e-01 1.46034649e-03 9.86693566e-01 -4.17346531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.53, Y:-73.78, Z:-41.74 [[ 9.34446947e-01 3.21673231e-01 1.52758753e-01 2.41528250e+02] [-3.17186017e-01 9.46849391e-01 -5.35654873e-02 -7.37824937e+01] [-1.61870116e-01 1.60116545e-03 9.86810773e-01 -4.17395813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.55, Y:-73.79, Z:-41.74 [[ 9.34890503e-01 3.20740788e-01 1.52003599e-01 2.41554380e+02] [-3.16287564e-01 9.47165406e-01 -5.32904384e-02 -7.37938625e+01] [-1.61064967e-01 1.74387677e-03 9.86942265e-01 -4.17448791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.58, Y:-73.80, Z:-41.75 [[ 9.35016366e-01 3.20503057e-01 1.51730638e-01 2.41580353e+02] [-3.16065078e-01 9.47245831e-01 -5.31808516e-02 -7.38042630e+01] [-1.60770840e-01 1.76821069e-03 9.86990178e-01 -4.17496950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.60, Y:-73.82, Z:-41.75 [[ 9.34849317e-01 3.20915437e-01 1.51888238e-01 2.41604882e+02] [-3.16474917e-01 9.47106341e-01 -5.32278605e-02 -7.38162134e+01] [-1.60935955e-01 1.69121167e-03 9.86963403e-01 -4.17545217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.63, Y:-73.83, Z:-41.76 [[ 9.34673131e-01 3.21456936e-01 1.51827456e-01 2.41631486e+02] [-3.17028788e-01 9.46922868e-01 -5.31961369e-02 -7.38268836e+01] [-1.60869158e-01 1.58732544e-03 9.86974465e-01 -4.17595215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.66, Y:-73.84, Z:-41.76 [[ 9.34437369e-01 3.22409967e-01 1.51256788e-01 2.41656857e+02] [-3.18028969e-01 9.46599083e-01 -5.29882109e-02 -7.38392261e+01] [-1.60263464e-01 1.41012405e-03 9.87073267e-01 -4.17646667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.68, Y:-73.85, Z:-41.77 [[ 9.34315261e-01 3.22847463e-01 1.51077822e-01 2.41682988e+02] [-3.18483877e-01 9.46450082e-01 -5.29175052e-02 -7.38499483e+01] [-1.60071899e-01 1.32578213e-03 9.87104467e-01 -4.17697393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.71, Y:-73.86, Z:-41.77 [[ 9.33903286e-01 3.24269644e-01 1.50578388e-01 2.41708952e+02] [-3.19954697e-01 9.45964086e-01 -5.27346234e-02 -7.38607915e+01] [-1.59541985e-01 1.07077560e-03 9.87190563e-01 -4.17747431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.74, Y:-73.87, Z:-41.78 [[ 9.33665710e-01 3.25083135e-01 1.50297365e-01 2.41735892e+02] [-3.20796132e-01 9.45684992e-01 -5.26282950e-02 -7.38709395e+01] [-1.59242533e-01 9.22421242e-04 9.87239062e-01 -4.17797022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.76, Y:-73.88, Z:-41.78 [[ 9.32840181e-01 3.27258200e-01 1.50702583e-01 2.41762675e+02] [-3.22977432e-01 9.44934799e-01 -5.27617717e-02 -7.38824615e+01] [-1.59670837e-01 5.44767571e-04 9.87170161e-01 -4.17847632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.79, Y:-73.89, Z:-41.79 [[ 9.32535983e-01 3.28204912e-01 1.50526333e-01 2.41788727e+02] [-3.23947070e-01 9.44606475e-01 -5.26963307e-02 -7.38917708e+01] [-1.59483343e-01 3.78660078e-04 9.87200547e-01 -4.17891867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.81, Y:-73.90, Z:-41.79 [[ 9.32057025e-01 3.29680104e-01 1.50268864e-01 2.41814859e+02] [-3.25457631e-01 9.44092694e-01 -5.25957720e-02 -7.39021132e+01] [-1.59207516e-01 1.16110391e-04 9.87245133e-01 -4.17943443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.84, Y:-73.91, Z:-41.80 [[ 9.31879827e-01 3.30092310e-01 1.50462804e-01 2.41840491e+02] [-3.25865512e-01 9.43948656e-01 -5.26555127e-02 -7.39119155e+01] [-1.59410341e-01 3.79716374e-05 9.87212410e-01 -4.17994922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.87, Y:-73.92, Z:-41.80 [[ 9.31674840e-01 3.30703490e-01 1.50390143e-01 2.41867190e+02] [-3.26490396e-01 9.43734706e-01 -5.26196295e-02 -7.39224867e+01] [-1.59329893e-01 -7.65524758e-05 9.87225394e-01 -4.18046341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.89, Y:-73.93, Z:-41.81 [[ 9.31772470e-01 3.30268627e-01 1.50740497e-01 2.41894025e+02] [-3.26031420e-01 9.43886982e-01 -5.27340443e-02 -7.39323152e+01] [-1.59698393e-01 -1.00075878e-05 9.87165854e-01 -4.18096988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:-73.94, Z:-41.81 [[ 9.32267046e-01 3.28516054e-01 1.51510253e-01 2.41919290e+02] [-3.24213493e-01 9.44498344e-01 -5.29951803e-02 -7.39422767e+01] [-1.60510951e-01 2.83991749e-04 9.87034019e-01 -4.18140714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:241.95, Y:-73.95, Z:-41.82 [[ 9.32616003e-01 3.27530991e-01 1.51495349e-01 2.41946825e+02] [-3.23218085e-01 9.44840332e-01 -5.29793930e-02 -7.39529056e+01] [-1.60491309e-01 4.43393069e-04 9.87037154e-01 -4.18185616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.97, Y:-73.96, Z:-41.82 [[ 9.33464508e-01 3.25328322e-01 1.51014886e-01 2.41972165e+02] [-3.21014900e-01 9.45600771e-01 -5.28073548e-02 -7.39643471e+01] [-1.59979521e-01 8.15762917e-04 9.87119996e-01 -4.18243148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.00, Y:-73.98, Z:-41.83 [[ 9.34028818e-01 3.23785646e-01 1.50841048e-01 2.41998769e+02] [-3.19463246e-01 9.46129856e-01 -5.27402123e-02 -7.39762238e+01] [-1.59791743e-01 1.07270747e-03 9.87150165e-01 -4.18293379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.03, Y:-73.99, Z:-41.83 [[ 9.34071271e-01 3.23697216e-01 1.50767948e-01 2.42026415e+02] [-3.19378540e-01 9.46160102e-01 -5.27106203e-02 -7.39867138e+01] [-1.59712898e-01 1.08342886e-03 9.87162913e-01 -4.18345101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.05, Y:-74.00, Z:-41.84 [[ 9.34044015e-01 3.23701744e-01 1.50926996e-01 2.42052636e+02] [-3.19374584e-01 9.46158557e-01 -5.27623082e-02 -7.39963934e+01] [-1.59880120e-01 1.08007184e-03 9.87135847e-01 -4.18390870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.08, Y:-74.01, Z:-41.84 [[ 9.33737495e-01 3.24479735e-01 1.51152875e-01 2.42078701e+02] [-3.20150583e-01 9.45892178e-01 -5.28355128e-02 -7.40058943e+01] [-1.60118376e-01 9.42818162e-04 9.87097370e-01 -4.18443297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.11, Y:-74.02, Z:-41.85 [[ 9.33661401e-01 3.24895548e-01 1.50729130e-01 2.42107395e+02] [-3.20598045e-01 9.45749516e-01 -5.26758643e-02 -7.40162194e+01] [-1.59666156e-01 8.57956781e-04 9.87170696e-01 -4.18495325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.13, Y:-74.03, Z:-41.86 [[ 9.33559417e-01 3.25382598e-01 1.50309611e-01 2.42132977e+02] [-3.21115367e-01 9.45582132e-01 -5.25295510e-02 -7.40270582e+01] [-1.59222284e-01 7.72731065e-04 9.87242456e-01 -4.18552662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.16, Y:-74.04, Z:-41.86 [[ 9.33502525e-01 3.25589810e-01 1.50214221e-01 2.42159029e+02] [-3.21331321e-01 9.45510835e-01 -5.24923235e-02 -7.40366790e+01] [-1.59120139e-01 7.33182410e-04 9.87258955e-01 -4.18599557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.19, Y:-74.05, Z:-41.86 [[ 9.33169800e-01 3.26488416e-01 1.50331099e-01 2.42186028e+02] [-3.22236607e-01 9.45201031e-01 -5.25221823e-02 -7.40467858e+01] [-1.59240994e-01 5.69931157e-04 9.87239576e-01 -4.18644671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.21, Y:-74.06, Z:-41.87 [[ 9.32962713e-01 3.27097321e-01 1.50292773e-01 2.42213873e+02] [-3.22856917e-01 9.44990546e-01 -5.25002684e-02 -7.40568015e+01] [-1.59197947e-01 4.57731510e-04 9.87246577e-01 -4.18694713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.24, Y:-74.07, Z:-41.87 [[ 9.32285383e-01 3.28854037e-01 1.50661830e-01 2.42240993e+02] [-3.24615355e-01 9.44380748e-01 -5.26295932e-02 -7.40655460e+01] [-1.59589586e-01 1.58656924e-04 9.87183437e-01 -4.18742530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.27, Y:-74.07, Z:-41.88 [[ 9.31941787e-01 3.29881149e-01 1.50542132e-01 2.42267070e+02] [-3.25663501e-01 9.44022472e-01 -5.25819036e-02 -7.40736984e+01] [-1.59460934e-01 -2.28046037e-05 9.87204239e-01 -4.18790783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.29, Y:-74.08, Z:-41.88 [[ 9.31125112e-01 3.32334498e-01 1.50199226e-01 2.42293678e+02] [-3.28169464e-01 9.43161480e-01 -5.24521207e-02 -7.40824191e+01] [-1.59093773e-01 -4.51312668e-04 9.87263373e-01 -4.18842608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.32, Y:-74.09, Z:-41.89 [[ 9.30323579e-01 3.34191120e-01 1.51044143e-01 2.42321333e+02] [-3.30004383e-01 9.42505006e-01 -5.27391813e-02 -7.40901444e+01] [-1.59984827e-01 -7.80725346e-04 9.87119165e-01 -4.18890240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.35, Y:-74.10, Z:-41.89 [[ 9.30197784e-01 3.34474642e-01 1.51191259e-01 2.42348074e+02] [-3.30284723e-01 9.42404378e-01 -5.27824760e-02 -7.40978886e+01] [-1.60137704e-01 -8.38021001e-04 9.87094329e-01 -4.18939859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.37, Y:-74.10, Z:-41.90 [[ 9.30039091e-01 3.34351875e-01 1.52433962e-01 2.42374623e+02] [-3.30092410e-01 9.42447945e-01 -5.32059413e-02 -7.41038022e+01] [-1.61450580e-01 -8.33688485e-04 9.86880446e-01 -4.18986929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.40, Y:-74.11, Z:-41.90 [[ 9.30224831e-01 3.33754696e-01 1.52609196e-01 2.42401786e+02] [-3.29479049e-01 9.42659670e-01 -5.32569400e-02 -7.41114264e+01] [-1.61633288e-01 -7.40604701e-04 9.86850613e-01 -4.19033204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:-74.12, Z:-41.91 [[ 9.30945136e-01 3.32137203e-01 1.51743310e-01 2.42428393e+02] [-3.27890198e-01 9.43230970e-01 -5.29467270e-02 -7.41192201e+01] [-1.60714567e-01 -4.64646063e-04 9.87000817e-01 -4.19090481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.45, Y:-74.13, Z:-41.91 [[ 9.31321469e-01 3.31317999e-01 1.51224020e-01 2.42454527e+02] [-3.27091110e-01 9.43519090e-01 -5.27554006e-02 -7.41278509e+01] [-1.60161564e-01 -3.31795467e-04 9.87090757e-01 -4.19139784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.48, Y:-74.14, Z:-41.92 [[ 9.31642927e-01 3.30463510e-01 1.51113618e-01 2.42481808e+02] [-3.26233298e-01 9.43818749e-01 -5.27067798e-02 -7.41366290e+01] [-1.60041534e-01 -1.94395450e-04 9.87110262e-01 -4.19189702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.51, Y:-74.14, Z:-41.92 [[ 9.32449653e-01 3.28376633e-01 1.50686533e-01 2.42508167e+02] [-3.24144636e-01 9.44546856e-01 -5.25499042e-02 -7.41435235e+01] [-1.59586651e-01 1.55908659e-04 9.87183912e-01 -4.19235995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.54, Y:-74.15, Z:-41.93 [[ 9.32953600e-01 3.26868979e-01 1.50845119e-01 2.42535301e+02] [-3.22610063e-01 9.45069578e-01 -5.25950589e-02 -7.41517039e+01] [-1.59750826e-01 4.04596207e-04 9.87157287e-01 -4.19285003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.56, Y:-74.16, Z:-41.93 [[ 9.33977345e-01 3.23705480e-01 1.51331036e-01 2.42562482e+02] [-3.19378901e-01 9.46157427e-01 -5.27564365e-02 -7.41604759e+01] [-1.60260531e-01 9.41376713e-04 9.87074301e-01 -4.19337607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.59, Y:-74.17, Z:-41.94 [[ 9.34558631e-01 3.22036964e-01 1.51302211e-01 2.42589304e+02] [-3.17691617e-01 9.46726310e-01 -5.27383200e-02 -7.41704054e+01] [-1.60225472e-01 1.21960817e-03 9.87079688e-01 -4.19384117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.62, Y:-74.18, Z:-41.94 [[ 9.35577637e-01 3.18776950e-01 1.51907015e-01 2.42617896e+02] [-3.14355259e-01 9.47828095e-01 -5.29402736e-02 -7.41818455e+01] [-1.60857876e-01 1.77696699e-03 9.86975981e-01 -4.19437394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:242.65, Y:-74.19, Z:-41.95 [[ 9.36368723e-01 3.16221285e-01 1.52373596e-01 2.42646156e+02] [-3.11738077e-01 9.48682847e-01 -5.31058135e-02 -7.41943599e+01] [-1.61347406e-01 2.22597093e-03 9.86895161e-01 -4.19482503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.67, Y:-74.20, Z:-41.95 [[ 9.36752912e-01 3.14863490e-01 1.52823309e-01 2.42673978e+02] [-3.10330942e-01 9.49133688e-01 -5.32911638e-02 -7.42045505e+01] [-1.61829193e-01 2.49485136e-03 9.86815630e-01 -4.19536509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.70, Y:-74.22, Z:-41.96 [[ 9.37268997e-01 3.12982819e-01 1.53520624e-01 2.42701641e+02] [-3.08383456e-01 9.49754563e-01 -5.35342313e-02 -7.42153744e+01] [-1.62562208e-01 2.83275460e-03 9.86694230e-01 -4.19584705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.73, Y:-74.22, Z:-41.96 [[ 9.37285417e-01 3.12934032e-01 1.53519835e-01 2.42728197e+02] [-3.08333648e-01 9.49770607e-01 -5.35364964e-02 -7.42244917e+01] [-1.62562018e-01 2.84364671e-03 9.86694230e-01 -4.19633184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.76, Y:-74.24, Z:-41.97 [[ 9.37522192e-01 3.12217884e-01 1.53532186e-01 2.42757546e+02] [-3.07609015e-01 9.50005919e-01 -5.35298839e-02 -7.42363787e+01] [-1.62569472e-01 2.95756977e-03 9.86692667e-01 -4.19689830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.79, Y:-74.25, Z:-41.97 [[ 9.37748033e-01 3.11711853e-01 1.53180767e-01 2.42786348e+02] [-3.07112847e-01 9.50171734e-01 -5.34357144e-02 -7.42482773e+01] [-1.62204580e-01 3.06545471e-03 9.86752389e-01 -4.19744886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.82, Y:-74.26, Z:-41.98 [[ 9.38142452e-01 3.10698042e-01 1.52824955e-01 2.42816082e+02] [-3.06102225e-01 9.50503070e-01 -5.33417481e-02 -7.42616185e+01] [-1.61833765e-01 3.26209966e-03 9.86812642e-01 -4.19801035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:-74.27, Z:-41.99 [[ 9.38422396e-01 3.10066312e-01 1.52388611e-01 2.42845053e+02] [-3.05483193e-01 9.50708877e-01 -5.32226444e-02 -7.42749086e+01] [-1.61379754e-01 3.39316210e-03 9.86886549e-01 -4.19855728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.88, Y:-74.29, Z:-41.99 [[ 9.38488906e-01 3.09940159e-01 1.52235577e-01 2.42875457e+02] [-3.05359673e-01 9.50749840e-01 -5.31997297e-02 -7.42872681e+01] [-1.61226683e-01 3.44075018e-03 9.86911403e-01 -4.19915405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.90, Y:-74.30, Z:-42.00 [[ 9.38772406e-01 3.09283143e-01 1.51823278e-01 2.42904616e+02] [-3.04713677e-01 9.50963276e-01 -5.30888238e-02 -7.43007014e+01] [-1.60797840e-01 3.57569365e-03 9.86980886e-01 -4.19974736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.93, Y:-74.31, Z:-42.00 [[ 9.38889227e-01 3.08938369e-01 1.51802841e-01 2.42934680e+02] [-3.04360662e-01 9.51075002e-01 -5.31124061e-02 -7.43131935e+01] [-1.60784348e-01 3.66385265e-03 9.86982761e-01 -4.20033921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:-74.33, Z:-42.01 [[ 9.39222922e-01 3.07646589e-01 1.52361015e-01 2.42963524e+02] [-3.03012572e-01 9.51492573e-01 -5.33410201e-02 -7.43267758e+01] [-1.61380557e-01 3.93180577e-03 9.86884419e-01 -4.20088970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:-74.34, Z:-42.01 [[ 9.39490373e-01 3.06675836e-01 1.52668825e-01 2.42993107e+02] [-3.02006969e-01 9.51805078e-01 -5.34685294e-02 -7.43394162e+01] [-1.61708469e-01 4.12611940e-03 9.86829948e-01 -4.20144279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:-74.35, Z:-42.02 [[ 9.40106088e-01 3.04688977e-01 1.52856702e-01 2.43021631e+02] [-2.99977153e-01 9.52441250e-01 -5.35665218e-02 -7.43546140e+01] [-1.61908158e-01 4.50469469e-03 9.86795549e-01 -4.20206057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.05, Y:-74.37, Z:-42.03 [[ 9.40589654e-01 3.03396031e-01 1.52453111e-01 2.43051063e+02] [-2.98687125e-01 9.52852732e-01 -5.34572058e-02 -7.43674980e+01] [-1.61484067e-01 4.74551329e-03 9.86863910e-01 -4.20262768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.08, Y:-74.38, Z:-42.03 [[ 9.41140600e-01 3.01891179e-01 1.52039757e-01 2.43079649e+02] [-2.97183272e-01 9.53329172e-01 -5.33441067e-02 -7.43835797e+01] [-1.61048051e-01 5.02063216e-03 9.86933796e-01 -4.20327049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.11, Y:-74.40, Z:-42.04 [[ 9.41230210e-01 3.01900455e-01 1.51465529e-01 2.43108464e+02] [-2.97223193e-01 9.53326181e-01 -5.31748634e-02 -7.43966570e+01] [-1.60449570e-01 5.03071959e-03 9.87031219e-01 -4.20377667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:243.14, Y:-74.41, Z:-42.04 [[ 9.41005611e-01 3.02920087e-01 1.50823938e-01 2.43137108e+02] [-2.98290858e-01 9.53003546e-01 -5.29792938e-02 -7.44127016e+01] [-1.59784240e-01 4.86441093e-03 9.87139977e-01 -4.20419781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.17, Y:-74.43, Z:-42.05 [[ 9.40659382e-01 3.03726378e-01 1.51361204e-01 2.43165578e+02] [-2.99068775e-01 9.52747326e-01 -5.32015136e-02 -7.44259932e+01] [-1.60367685e-01 4.77709323e-03 9.87045787e-01 -4.20490275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.19, Y:-74.44, Z:-42.05 [[ 9.39777277e-01 3.06289345e-01 1.51675666e-01 2.43193119e+02] [-3.01640249e-01 9.51928390e-01 -5.33432374e-02 -7.44430399e+01] [-1.60722838e-01 4.37927666e-03 9.86989864e-01 -4.20525628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.22, Y:-74.46, Z:-42.06 [[ 9.39257136e-01 3.07685740e-01 1.52070767e-01 2.43222406e+02] [-3.03025476e-01 9.51478854e-01 -5.35121544e-02 -7.44560183e+01] [-1.61157046e-01 4.18035618e-03 9.86919921e-01 -4.20590240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.25, Y:-74.47, Z:-42.06 [[ 9.37939072e-01 3.11397220e-01 1.52650148e-01 2.43250071e+02] [-3.06744540e-01 9.50273064e-01 -5.37484021e-02 -7.44718568e+01] [-1.61796427e-01 3.58812691e-03 9.86817633e-01 -4.20629322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.28, Y:-74.49, Z:-42.07 [[ 9.36671335e-01 3.15136959e-01 1.52759636e-01 2.43278918e+02] [-3.10521960e-01 9.49041545e-01 -5.38168861e-02 -7.44884885e+01] [-1.61934931e-01 2.97351296e-03 9.86796958e-01 -4.20695961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:243.31, Y:-74.50, Z:-42.07 [[ 9.35970917e-01 3.17417412e-01 1.52330657e-01 2.43308103e+02] [-3.12853171e-01 9.48282349e-01 -5.36980491e-02 -7.45028256e+01] [-1.61497169e-01 2.60268303e-03 9.86869743e-01 -4.20747274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:243.34, Y:-74.52, Z:-42.08 [[ 9.34625301e-01 3.21520858e-01 1.51986462e-01 2.43336450e+02] [-3.17025885e-01 9.46900548e-01 -5.36091346e-02 -7.45198721e+01] [-1.61152519e-01 1.92081085e-03 9.86927645e-01 -4.20802677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.37, Y:-74.53, Z:-42.09 [[ 9.33767160e-01 3.23864657e-01 1.52284518e-01 2.43365458e+02] [-3.19377393e-01 9.46102149e-01 -5.37475971e-02 -7.45323801e+01] [-1.61483657e-01 1.55150885e-03 9.86874167e-01 -4.20867386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.39, Y:-74.55, Z:-42.09 [[ 9.32818590e-01 3.26547237e-01 1.52369226e-01 2.43394396e+02] [-3.22085285e-01 9.45180222e-01 -5.38090852e-02 -7.45450489e+01] [-1.61587587e-01 1.11822934e-03 9.86857741e-01 -4.20920490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:243.42, Y:-74.56, Z:-42.10 [[ 9.31138342e-01 3.31513405e-01 1.51921853e-01 2.43423051e+02] [-3.27140153e-01 9.43450469e-01 -5.36706005e-02 -7.45609417e+01] [-1.61123267e-01 2.75015616e-04 9.86934252e-01 -4.20963671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:-74.58, Z:-42.10 [[ 9.29362264e-01 3.36557898e-01 1.51705520e-01 2.43450930e+02] [-3.32258451e-01 9.41662604e-01 -5.36270572e-02 -7.45752513e+01] [-1.60904024e-01 -5.66477677e-04 9.86969895e-01 -4.21032205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.48, Y:-74.59, Z:-42.11 [[ 9.28478338e-01 3.39070764e-01 1.51522252e-01 2.43480919e+02] [-3.34810006e-01 9.40760370e-01 -5.35927874e-02 -7.45883881e+01] [-1.60717878e-01 -9.71424126e-04 9.86999909e-01 -4.21077887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.51, Y:-74.60, Z:-42.11 [[ 9.27668729e-01 3.41162291e-01 1.51786104e-01 2.43511057e+02] [-3.36909076e-01 9.40003504e-01 -5.37185878e-02 -7.46014498e+01] [-1.61006226e-01 -1.30506186e-03 9.86952528e-01 -4.21147914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.54, Y:-74.62, Z:-42.12 [[ 9.26347692e-01 3.44734599e-01 1.51782772e-01 2.43539823e+02] [-3.40523657e-01 9.38698285e-01 -5.37509839e-02 -7.46164603e+01] [-1.61008052e-01 -1.89352474e-03 9.86951276e-01 -4.21192753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.57, Y:-74.63, Z:-42.13 [[ 9.25664025e-01 3.46444426e-01 1.52060425e-01 2.43569195e+02] [-3.42235732e-01 9.38068000e-01 -5.38807131e-02 -7.46290059e+01] [-1.61309691e-01 -2.16507311e-03 9.86901462e-01 -4.21255376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.60, Y:-74.64, Z:-42.13 [[ 9.24534651e-01 3.49278409e-01 1.52447604e-01 2.43598288e+02] [-3.45081334e-01 9.37015282e-01 -5.40484468e-02 -7.46434991e+01] [-1.61723690e-01 -2.63716049e-03 9.86832556e-01 -4.21313172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.63, Y:-74.66, Z:-42.14 [[ 9.23913660e-01 3.50851704e-01 1.52599575e-01 2.43627463e+02] [-3.46662009e-01 9.36426594e-01 -5.41358012e-02 -7.46556175e+01] [-1.61891939e-01 -2.88366916e-03 9.86804279e-01 -4.21367745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.66, Y:-74.67, Z:-42.14 [[ 9.22585493e-01 3.54071217e-01 1.53197850e-01 2.43657866e+02] [-3.49889119e-01 9.35212125e-01 -5.43680541e-02 -7.46685885e+01] [-1.62522650e-01 -3.44308274e-03 9.86698806e-01 -4.21422146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.69, Y:-74.68, Z:-42.15 [[ 9.21865689e-01 3.55937095e-01 1.53207166e-01 2.43688124e+02] [-3.51774646e-01 9.34502428e-01 -5.44041339e-02 -7.46798040e+01] [-1.62536918e-01 -3.74109217e-03 9.86695371e-01 -4.21474858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.72, Y:-74.69, Z:-42.15 [[ 9.21104043e-01 3.57894411e-01 1.53228365e-01 2.43717383e+02] [-3.53752222e-01 9.33753255e-01 -5.44446806e-02 -7.46904527e+01] [-1.62562932e-01 -4.05565929e-03 9.86689842e-01 -4.21529824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.75, Y:-74.70, Z:-42.16 [[ 9.19770829e-01 3.61420203e-01 1.52960974e-01 2.43747947e+02] [-3.57335831e-01 9.32391493e-01 -5.43802115e-02 -7.47014608e+01] [-1.62273618e-01 -4.64110459e-03 9.86734885e-01 -4.21590014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.78, Y:-74.71, Z:-42.16 [[ 9.18766848e-01 3.64307698e-01 1.52142631e-01 2.43778336e+02] [-3.60300967e-01 9.31264721e-01 -5.41223903e-02 -7.47120897e+01] [-1.61402268e-01 -5.09127895e-03 9.86875568e-01 -4.21644494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.81, Y:-74.72, Z:-42.17 [[ 9.18312934e-01 3.65563895e-01 1.51869662e-01 2.43807684e+02] [-3.61583164e-01 9.30771325e-01 -5.40588247e-02 -7.47224005e+01] [-1.61117881e-01 -5.27059481e-03 9.86921096e-01 -4.21701502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03587156000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:243.84, Y:-74.73, Z:-42.18 [[ 9.17865862e-01 3.66510795e-01 1.52289512e-01 2.43838705e+02] [-3.62515721e-01 9.30397996e-01 -5.42394857e-02 -7.47311948e+01] [-1.61569214e-01 -5.42276999e-03 9.86846484e-01 -4.21761547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.87, Y:-74.74, Z:-42.18 [[ 9.17732798e-01 3.66796822e-01 1.52402765e-01 2.43869375e+02] [-3.62794285e-01 9.30285134e-01 -5.43127722e-02 -7.47410729e+01] [-1.61699779e-01 -5.44623986e-03 9.86824969e-01 -4.21813352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.90, Y:-74.75, Z:-42.19 [[ 9.17760662e-01 3.66473904e-01 1.53010605e-01 2.43899554e+02] [-3.62429269e-01 9.30412776e-01 -5.45627280e-02 -7.47503066e+01] [-1.62358837e-01 -5.37999622e-03 9.86717114e-01 -4.21864726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.93, Y:-74.76, Z:-42.19 [[ 9.17927605e-01 3.66076209e-01 1.52961176e-01 2.43929592e+02] [-3.62023649e-01 9.30569902e-01 -5.45759474e-02 -7.47603510e+01] [-1.62320022e-01 -5.27879440e-03 9.86724047e-01 -4.21921051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.96, Y:-74.77, Z:-42.20 [[ 9.18284348e-01 3.65347790e-01 1.52560969e-01 2.43960570e+02] [-3.61301583e-01 9.30857081e-01 -5.44633952e-02 -7.47702391e+01] [-1.61910539e-01 -5.10763609e-03 9.86792222e-01 -4.21981703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.99, Y:-74.78, Z:-42.20 [[ 9.18946999e-01 3.64099889e-01 1.51550928e-01 2.43991132e+02] [-3.60085200e-01 9.31347413e-01 -5.41354393e-02 -7.47778121e+01] [-1.60857272e-01 -4.82364664e-03 9.86965891e-01 -4.22042315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.02, Y:-74.79, Z:-42.21 [[ 9.19098313e-01 3.63721693e-01 1.51541481e-01 2.44022559e+02] [-3.59697452e-01 9.31495664e-01 -5.41624526e-02 -7.47868805e+01] [-1.60860291e-01 -4.72846564e-03 9.86965860e-01 -4.22098512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.06, Y:-74.79, Z:-42.22 [[ 9.19220285e-01 3.63456799e-01 1.51437189e-01 2.44055022e+02] [-3.59429276e-01 9.31599458e-01 -5.41576030e-02 -7.47933420e+01] [-1.60762753e-01 -4.64819216e-03 9.86982133e-01 -4.22150028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.27587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.09, Y:-74.80, Z:-42.22 [[ 9.19291852e-01 3.63421940e-01 1.51086014e-01 2.44085829e+02] [-3.59407427e-01 9.31613294e-01 -5.40645093e-02 -7.48019960e+01] [-1.60401968e-01 -4.60037259e-03 9.87041056e-01 -4.22205257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.12, Y:-74.81, Z:-42.22 [[ 9.19307251e-01 3.63319833e-01 1.51237817e-01 2.44115301e+02] [-3.59291012e-01 9.31653322e-01 -5.41484701e-02 -7.48096212e+01] [-1.60574428e-01 -4.55930731e-03 9.87013204e-01 -4.22242328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.14, Y:-74.82, Z:-42.23 [[ 9.19314052e-01 3.63087386e-01 1.51753826e-01 2.44144246e+02] [-3.59027387e-01 9.31744067e-01 -5.43353385e-02 -7.48173024e+01] [-1.61124203e-01 -4.53253937e-03 9.86923729e-01 -4.22290927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.17, Y:-74.82, Z:-42.23 [[ 9.19455463e-01 3.62446836e-01 1.52426844e-01 2.44173049e+02] [-3.58341774e-01 9.31993871e-01 -5.45765277e-02 -7.48211673e+01] [-1.61841974e-01 -4.44021932e-03 9.86806698e-01 -4.22348525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:-74.83, Z:-42.24 [[ 9.19592528e-01 3.62020732e-01 1.52612493e-01 2.44200942e+02] [-3.57900453e-01 9.32159779e-01 -5.46389273e-02 -7.48281378e+01] [-1.62039652e-01 -4.37453116e-03 9.86774551e-01 -4.22400941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:-74.83, Z:-42.25 [[ 9.20013161e-01 3.60787977e-01 1.52996138e-01 2.44232883e+02] [-3.56631523e-01 9.32638507e-01 -5.47665197e-02 -7.48343869e+01] [-1.62449192e-01 -4.17732674e-03 9.86708067e-01 -4.22452554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:-74.84, Z:-42.25 [[ 9.20331861e-01 3.59871042e-01 1.53238701e-01 2.44263537e+02] [-3.55683075e-01 9.32993524e-01 -5.48874742e-02 -7.48429805e+01] [-1.62723128e-01 -3.98972102e-03 9.86663704e-01 -4.22504021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.29, Y:-74.85, Z:-42.25 [[ 9.21350701e-01 3.56929667e-01 1.53993828e-01 2.44292478e+02] [-3.52653688e-01 9.34124869e-01 -5.51915354e-02 -7.48474125e+01] [-1.63548961e-01 -3.45573161e-03 9.86529166e-01 -4.22535700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:-74.86, Z:-42.26 [[ 9.21882200e-01 3.55589278e-01 1.53913857e-01 2.44321457e+02] [-3.51300612e-01 9.34636758e-01 -5.51544203e-02 -7.48550238e+01] [-1.63465869e-01 -3.22415383e-03 9.86543722e-01 -4.22601309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.35, Y:-74.86, Z:-42.27 [[ 9.23221843e-01 3.52390831e-01 1.53238803e-01 2.44350393e+02] [-3.48096108e-01 9.35849189e-01 -5.49126108e-02 -7.48614683e+01] [-1.62759110e-01 -2.64530894e-03 9.86662290e-01 -4.22652882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.38, Y:-74.87, Z:-42.27 [[ 9.23722878e-01 3.51198891e-01 1.52955497e-01 2.44381275e+02] [-3.46904518e-01 9.36297716e-01 -5.48073152e-02 -7.48711159e+01] [-1.62460151e-01 -2.43418221e-03 9.86712103e-01 -4.22712368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.41, Y:-74.88, Z:-42.28 [[ 9.24749116e-01 3.49026688e-01 1.51721599e-01 2.44411118e+02] [-3.44767125e-01 9.37110644e-01 -5.43991828e-02 -7.48776721e+01] [-1.61166692e-01 -2.00302318e-03 9.86925167e-01 -4.22762541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.44, Y:-74.88, Z:-42.28 [[ 9.25172296e-01 3.48022471e-01 1.51448286e-01 2.44438026e+02] [-3.43760183e-01 9.37484470e-01 -5.43305179e-02 -7.48848387e+01] [-1.60888657e-01 -1.79680070e-03 9.86970927e-01 -4.22816190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:-74.89, Z:-42.29 [[ 9.25698905e-01 3.46631498e-01 1.51420415e-01 2.44468272e+02] [-3.42353399e-01 9.38000089e-01 -5.43137456e-02 -7.48919780e+01] [-1.60859217e-01 -1.56111875e-03 9.86976127e-01 -4.22873445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.50, Y:-74.90, Z:-42.29 [[ 9.26108082e-01 3.45645148e-01 1.51172921e-01 2.44497434e+02] [-3.41367344e-01 9.38364278e-01 -5.42293166e-02 -7.48980450e+01] [-1.60599369e-01 -1.38328995e-03 9.87018708e-01 -4.22920291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.53, Y:-74.91, Z:-42.30 [[ 9.26260725e-01 3.45201005e-01 1.51252557e-01 2.44525437e+02] [-3.40912333e-01 9.38527871e-01 -5.42606325e-02 -7.49063799e+01] [-1.60685566e-01 -1.30436943e-03 9.87004786e-01 -4.22974217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.55, Y:-74.91, Z:-42.30 [[ 9.26392933e-01 3.44838190e-01 1.51270475e-01 2.44552541e+02] [-3.40544368e-01 9.38661319e-01 -5.42628926e-02 -7.49147489e+01] [-1.60703661e-01 -1.24554820e-03 9.87001916e-01 -4.23020628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78587156000003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.58, Y:-74.92, Z:-42.30 [[ 9.26365448e-01 3.44892720e-01 1.51314469e-01 2.44579762e+02] [-3.40597776e-01 9.38641266e-01 -5.42745654e-02 -7.49208019e+01] [-1.60748907e-01 -1.25928960e-03 9.86994530e-01 -4.23049197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81587156 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.61, Y:-74.93, Z:-42.31 [[ 9.26383980e-01 3.44841500e-01 1.51317748e-01 2.44606237e+02] [-3.40547372e-01 9.38660083e-01 -5.42654211e-02 -7.49301568e+01] [-1.60748900e-01 -1.26024472e-03 9.86994530e-01 -4.23097680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.63, Y:-74.94, Z:-42.32 [[ 9.26200500e-01 3.45232363e-01 1.51549493e-01 2.44633371e+02] [-3.40931715e-01 9.38516288e-01 -5.43391499e-02 -7.49374767e+01] [-1.60991301e-01 -1.33908076e-03 9.86954917e-01 -4.23163423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:244.66, Y:-74.94, Z:-42.32 [[ 9.26119727e-01 3.45519083e-01 1.51389611e-01 2.44660679e+02] [-3.41232689e-01 9.38410687e-01 -5.42737040e-02 -7.49430666e+01] [-1.60818229e-01 -1.39513607e-03 9.86983055e-01 -4.23194209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.69, Y:-74.95, Z:-42.32 [[ 9.26059828e-01 3.45703679e-01 1.51334598e-01 2.44688019e+02] [-3.41424562e-01 9.38342636e-01 -5.42435811e-02 -7.49512410e+01] [-1.60755911e-01 -1.43654733e-03 9.86993148e-01 -4.23246767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.72, Y:-74.96, Z:-42.33 [[ 9.26224353e-01 3.45439665e-01 1.50930070e-01 2.44716321e+02] [-3.41181377e-01 9.38439925e-01 -5.40904340e-02 -7.49578142e+01] [-1.60323785e-01 -1.39465179e-03 9.87063493e-01 -4.23297096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.74, Y:-74.97, Z:-42.33 [[ 9.26467824e-01 3.44854934e-01 1.50772830e-01 2.44743113e+02] [-3.40599180e-01 9.38655094e-01 -5.40260409e-02 -7.49655117e+01] [-1.60154832e-01 -1.29971383e-03 9.87091050e-01 -4.23344331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.77, Y:-74.97, Z:-42.34 [[ 9.26733371e-01 3.44148921e-01 1.50754038e-01 2.44770103e+02] [-3.39886622e-01 9.38914326e-01 -5.40090107e-02 -7.49735876e+01] [-1.60132269e-01 -1.18732820e-03 9.87094852e-01 -4.23391324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.80, Y:-74.98, Z:-42.34 [[ 9.27238860e-01 3.42818215e-01 1.50677696e-01 2.44797734e+02] [-3.38544106e-01 9.39401267e-01 -5.39735783e-02 -7.49801471e+01] [-1.60049944e-01 -9.64646719e-04 9.87108446e-01 -4.23449653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:-74.99, Z:-42.35 [[ 9.27493165e-01 3.42175172e-01 1.50574168e-01 2.44824769e+02] [-3.37899876e-01 9.39635786e-01 -5.39283183e-02 -7.49886145e+01] [-1.59937809e-01 -8.60846059e-04 9.87126717e-01 -4.23500593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.85, Y:-75.00, Z:-42.35 [[ 9.28062453e-01 3.40473163e-01 1.50924179e-01 2.44851846e+02] [-3.36156846e-01 9.40254057e-01 -5.40451886e-02 -7.49968049e+01] [-1.60308008e-01 -5.76885605e-04 9.87066872e-01 -4.23548373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:-75.01, Z:-42.36 [[ 9.28315404e-01 3.39646284e-01 1.51231318e-01 2.44877993e+02] [-3.35302707e-01 9.40553138e-01 -5.41469204e-02 -7.50056016e+01] [-1.60631891e-01 -4.42849855e-04 9.87014285e-01 -4.23597848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:-75.01, Z:-42.36 [[ 9.28621965e-01 3.38726671e-01 1.51411652e-01 2.44904103e+02] [-3.34362402e-01 9.40884773e-01 -5.41998980e-02 -7.50143535e+01] [-1.60819868e-01 -2.95147734e-04 9.86983730e-01 -4.23646194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.93, Y:-75.02, Z:-42.37 [[ 9.29244941e-01 3.37007486e-01 1.51425871e-01 2.44930975e+02] [-3.32621652e-01 9.41501967e-01 -5.41930123e-02 -7.50233753e+01] [-1.60831206e-01 -8.94069815e-06 9.86981926e-01 -4.23686196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.96, Y:-75.03, Z:-42.37 [[ 9.29710388e-01 3.36058001e-01 1.50677188e-01 2.44956987e+02] [-3.31704608e-01 9.41841281e-01 -5.39171076e-02 -7.50328844e+01] [-1.60033271e-01 1.46977470e-04 9.87111610e-01 -4.23745613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.98, Y:-75.04, Z:-42.38 [[ 9.29840738e-01 3.35819834e-01 1.50403593e-01 2.44983981e+02] [-3.31480889e-01 9.41926222e-01 -5.38090419e-02 -7.50429041e+01] [-1.59739231e-01 1.77922570e-04 9.87159230e-01 -4.23792222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.01, Y:-75.05, Z:-42.38 [[ 9.29816175e-01 3.35834382e-01 1.50522919e-01 2.45010986e+02] [-3.31489999e-01 9.41921037e-01 -5.38436703e-02 -7.50528279e+01] [-1.59863260e-01 1.67873301e-04 9.87139154e-01 -4.23841782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.04, Y:-75.06, Z:-42.39 [[ 9.29582769e-01 3.36448805e-01 1.50592420e-01 2.45037069e+02] [-3.32109681e-01 9.41701757e-01 -5.38605679e-02 -7.50611529e+01] [-1.59934470e-01 5.46553413e-05 9.87127632e-01 -4.23887572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.06, Y:-75.07, Z:-42.39 [[ 9.29322348e-01 3.37148982e-01 1.50633784e-01 2.45063781e+02] [-3.32818437e-01 9.41451304e-01 -5.38639939e-02 -7.50701205e+01] [-1.59974563e-01 -7.66871449e-05 9.87121134e-01 -4.23936541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:-75.08, Z:-42.40 [[ 9.28732559e-01 3.38410099e-01 1.51441208e-01 2.45090523e+02] [-3.34050677e-01 9.40998678e-01 -5.41445508e-02 -7.50788572e+01] [-1.60829039e-01 -3.03230897e-04 9.86982233e-01 -4.23981861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.12, Y:-75.09, Z:-42.40 [[ 9.28197924e-01 3.40009305e-01 1.51136650e-01 2.45117015e+02] [-3.35689852e-01 9.40421889e-01 -5.40277242e-02 -7.50876409e+01] [-1.60502143e-01 -5.86618138e-04 9.87035318e-01 -4.24015159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.14, Y:-75.10, Z:-42.41 [[ 9.27889807e-01 3.40805017e-01 1.51236390e-01 2.45143348e+02] [-3.36491943e-01 9.40133715e-01 -5.40534056e-02 -7.50966646e+01] [-1.60604101e-01 -7.34222792e-04 9.87018634e-01 -4.24077144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.17, Y:-75.11, Z:-42.41 [[ 9.27589732e-01 3.41605566e-01 1.51271033e-01 2.45170245e+02] [-3.37303065e-01 9.39842995e-01 -5.40535626e-02 -7.51054687e+01] [-1.60636019e-01 -8.84653638e-04 9.87013316e-01 -4.24123235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.20, Y:-75.11, Z:-42.42 [[ 9.27103952e-01 3.42914169e-01 1.51288253e-01 2.45197509e+02] [-3.38629310e-01 9.39366074e-01 -5.40515490e-02 -7.51124552e+01] [-1.60650094e-01 -1.11923207e-03 9.87010787e-01 -4.24161535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.22, Y:-75.12, Z:-42.42 [[ 9.26743655e-01 3.43870636e-01 1.51324764e-01 2.45222825e+02] [-3.39598028e-01 9.39016139e-01 -5.40543311e-02 -7.51208554e+01] [-1.60684093e-01 -1.29508323e-03 9.87005038e-01 -4.24216938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.25, Y:-75.13, Z:-42.43 [[ 9.26079635e-01 3.45563242e-01 1.51534011e-01 2.45248417e+02] [-3.41303148e-01 9.38394096e-01 -5.41172994e-02 -7.51290076e+01] [-1.60899570e-01 -1.60210598e-03 9.86969484e-01 -4.24263616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.27, Y:-75.14, Z:-42.43 [[ 9.25798465e-01 3.46355231e-01 1.51443903e-01 2.45274788e+02] [-3.42113025e-01 9.38101799e-01 -5.40711923e-02 -7.51373015e+01] [-1.60797638e-01 -1.75190480e-03 9.86985841e-01 -4.24309188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:-75.14, Z:-42.44 [[ 9.25429796e-01 3.47569764e-01 1.50913727e-01 2.45301595e+02] [-3.43375299e-01 9.37652063e-01 -5.38703355e-02 -7.51426005e+01] [-1.60228267e-01 -1.96683253e-03 9.87078028e-01 -4.24353867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.33, Y:-75.15, Z:-42.44 [[ 9.25420278e-01 3.47696615e-01 1.50679706e-01 2.45328438e+02] [-3.43519124e-01 9.37604965e-01 -5.37730618e-02 -7.51499115e+01] [-1.59974752e-01 -1.99867890e-03 9.87119083e-01 -4.24403454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.35, Y:-75.16, Z:-42.45 [[ 9.26003097e-01 3.46720684e-01 1.49341996e-01 2.45354217e+02] [-3.42606670e-01 9.37966652e-01 -5.32844177e-02 -7.51556862e+01] [-1.58552622e-01 -1.82402818e-03 9.87348844e-01 -4.24460381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.38, Y:-75.16, Z:-42.45 [[ 9.26387220e-01 3.45848485e-01 1.48981691e-01 2.45380845e+02] [-3.41745369e-01 9.38288864e-01 -5.31423698e-02 -7.51638700e+01] [-1.58167070e-01 -1.68339071e-03 9.87410930e-01 -4.24508165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.41, Y:-75.17, Z:-42.46 [[ 9.27319133e-01 3.43504541e-01 1.48606380e-01 2.45406476e+02] [-3.39394039e-01 9.39150129e-01 -5.29973742e-02 -7.51713250e+01] [-1.57768540e-01 -1.29064056e-03 9.87475277e-01 -4.24567719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:-75.18, Z:-42.46 [[ 9.28303888e-01 3.40507811e-01 1.49353014e-01 2.45432075e+02] [-3.36319108e-01 9.40241349e-01 -5.32509428e-02 -7.51785377e+01] [-1.58560241e-01 -7.97215185e-04 9.87348983e-01 -4.24605272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.77587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.46, Y:-75.19, Z:-42.46 [[ 9.28834986e-01 3.38848215e-01 1.49824754e-01 2.45457993e+02] [-3.34614793e-01 9.40840901e-01 -5.33979372e-02 -7.51873102e+01] [-1.59055052e-01 -5.35706740e-04 9.87269570e-01 -4.24636497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:-75.20, Z:-42.47 [[ 9.29882427e-01 3.35445533e-01 1.50980022e-01 2.45484041e+02] [-3.31103625e-01 9.42059602e-01 -5.37968078e-02 -7.51951741e+01] [-1.60278078e-01 3.46737199e-05 9.87071900e-01 -4.24695700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.51, Y:-75.20, Z:-42.47 [[ 9.30451808e-01 3.33808390e-01 1.51100600e-01 2.45509961e+02] [-3.29439743e-01 9.42640899e-01 -5.38292785e-02 -7.52040995e+01] [-1.60402270e-01 3.07006607e-04 9.87051679e-01 -4.24741661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.53, Y:-75.21, Z:-42.48 [[ 9.31040918e-01 3.32115690e-01 1.51201779e-01 2.45534781e+02] [-3.27720631e-01 9.43238475e-01 -5.38550564e-02 -7.52124177e+01] [-1.60505444e-01 5.89318883e-04 9.87034779e-01 -4.24786126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89587156 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:245.56, Y:-75.22, Z:-42.48 [[ 9.32066242e-01 3.29072907e-01 1.51537262e-01 2.45561698e+02] [-3.24620353e-01 9.44303873e-01 -5.39612980e-02 -7.52218562e+01] [-1.60854424e-01 1.10342477e-03 9.86977526e-01 -4.24817641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:-75.23, Z:-42.49 [[ 9.32476806e-01 3.27824078e-01 1.51718094e-01 2.45588429e+02] [-3.23345706e-01 9.44737874e-01 -5.40176319e-02 -7.52309979e+01] [-1.61042110e-01 1.31279459e-03 9.86946663e-01 -4.24883325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.61, Y:-75.24, Z:-42.49 [[ 9.33170859e-01 3.25994032e-01 1.51393654e-01 2.45614348e+02] [-3.21512311e-01 9.45370443e-01 -5.38939602e-02 -7.52397325e+01] [-1.60692195e-01 1.61734961e-03 9.87003243e-01 -4.24913769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:-75.25, Z:-42.50 [[ 9.33326733e-01 3.25599640e-01 1.51281475e-01 2.45639698e+02] [-3.21121134e-01 9.45506252e-01 -5.38437124e-02 -7.52484492e+01] [-1.60569074e-01 1.67409721e-03 9.87023186e-01 -4.24976392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.67, Y:-75.26, Z:-42.50 [[ 9.33292561e-01 3.25944252e-01 1.50749263e-01 2.45666100e+02] [-3.21503580e-01 9.45387639e-01 -5.36438286e-02 -7.52581957e+01] [-1.60001387e-01 1.59895862e-03 9.87115495e-01 -4.25017078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.69, Y:-75.27, Z:-42.51 [[ 9.33211132e-01 3.26306097e-01 1.50470308e-01 2.45691643e+02] [-3.21887558e-01 9.45262924e-01 -5.35388226e-02 -7.52675081e+01] [-1.59704047e-01 1.52850529e-03 9.87163756e-01 -4.25059813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:-75.28, Z:-42.51 [[ 9.33015482e-01 3.26871913e-01 1.50455518e-01 2.45718009e+02] [-3.22463195e-01 9.45067580e-01 -5.35234236e-02 -7.52777710e+01] [-1.59685936e-01 1.42181574e-03 9.87166845e-01 -4.25122869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.74, Y:-75.29, Z:-42.52 [[ 9.32589829e-01 3.28363616e-01 1.49845077e-01 2.45743823e+02] [-3.24011294e-01 9.44550689e-01 -5.32980016e-02 -7.52879694e+01] [-1.59037396e-01 1.15367679e-03 9.87271885e-01 -4.25174366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:-75.30, Z:-42.52 [[ 9.31927967e-01 3.30199671e-01 1.49928121e-01 2.45769466e+02] [-3.25867395e-01 9.43910739e-01 -5.33193935e-02 -7.52966760e+01] [-1.59124810e-01 8.33147625e-04 9.87258123e-01 -4.25226035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:-75.31, Z:-42.53 [[ 9.31649094e-01 3.30914738e-01 1.50084650e-01 2.45794246e+02] [-3.26584112e-01 9.43660396e-01 -5.33654886e-02 -7.53058442e+01] [-1.59288367e-01 7.02646906e-04 9.87231848e-01 -4.25273125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:-75.32, Z:-42.53 [[ 9.31465877e-01 3.31323040e-01 1.50320867e-01 2.45820625e+02] [-3.26986771e-01 9.43517176e-01 -5.34320983e-02 -7.53163913e+01] [-1.59533605e-01 6.17241314e-04 9.87192305e-01 -4.25322371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.85, Y:-75.33, Z:-42.54 [[ 9.31363737e-01 3.31551416e-01 1.50450148e-01 2.45847127e+02] [-3.27211892e-01 9.43436978e-01 -5.34700457e-02 -7.53278401e+01] [-1.59668302e-01 5.70984277e-04 9.87170556e-01 -4.25358562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:245.87, Y:-75.34, Z:-42.54 [[ 9.31363362e-01 3.31380706e-01 1.50828099e-01 2.45874184e+02] [-3.27018294e-01 9.43496940e-01 -5.35962720e-02 -7.53381892e+01] [-1.60066620e-01 5.94056518e-04 9.87106035e-01 -4.25401258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28587156000003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:245.90, Y:-75.35, Z:-42.55 [[ 9.31645778e-01 3.30634490e-01 1.50721529e-01 2.45899960e+02] [-3.26269879e-01 9.43758615e-01 -5.35503701e-02 -7.53503175e+01] [-1.59950340e-01 7.14081313e-04 9.87124804e-01 -4.25454634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:-75.36, Z:-42.55 [[ 9.31840892e-01 3.30333243e-01 1.50174902e-01 2.45924991e+02] [-3.25997859e-01 9.43864068e-01 -5.33480830e-02 -7.53626055e+01] [-1.59367339e-01 7.55228771e-04 9.87219064e-01 -4.25525046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.95, Y:-75.37, Z:-42.56 [[ 9.31822480e-01 3.30395991e-01 1.50151105e-01 2.45950909e+02] [-3.26064107e-01 9.43842119e-01 -5.33315261e-02 -7.53732298e+01] [-1.59339459e-01 7.36629061e-04 9.87223579e-01 -4.25555170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.98, Y:-75.38, Z:-42.56 [[ 9.31629309e-01 3.31066033e-01 1.49873654e-01 2.45976166e+02] [-3.26760530e-01 9.43607391e-01 -5.32226215e-02 -7.53840011e+01] [-1.59042090e-01 6.10959610e-04 9.87271614e-01 -4.25623292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.00, Y:-75.40, Z:-42.57 [[ 9.30959089e-01 3.33061818e-01 1.49616177e-01 2.46002484e+02] [-3.28798034e-01 9.42904956e-01 -5.31234056e-02 -7.53954988e+01] [-1.58767213e-01 2.62212252e-04 9.87316010e-01 -4.25670215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:246.03, Y:-75.41, Z:-42.57 [[ 9.30148331e-01 3.35378232e-01 1.49484191e-01 2.46028858e+02] [-3.31152982e-01 9.42083553e-01 -5.30686415e-02 -7.54063139e+01] [-1.58624665e-01 -1.40427303e-04 9.87338947e-01 -4.25700195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.05, Y:-75.42, Z:-42.58 [[ 9.29839178e-01 3.36077997e-01 1.49835518e-01 2.46054137e+02] [-3.31843082e-01 9.41834119e-01 -5.31851567e-02 -7.54157414e+01] [-1.58994564e-01 -2.68237830e-04 9.87279422e-01 -4.25764777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:-75.43, Z:-42.58 [[ 9.29175879e-01 3.37598813e-01 1.50529820e-01 2.46080710e+02] [-3.33345829e-01 9.41289939e-01 -5.34210552e-02 -7.54272734e+01] [-1.59727090e-01 -5.40931694e-04 9.87161063e-01 -4.25811849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:-75.44, Z:-42.59 [[ 9.28959527e-01 3.38088104e-01 1.50766809e-01 2.46106626e+02] [-3.33829361e-01 9.41114250e-01 -5.34969730e-02 -7.54378252e+01] [-1.59975483e-01 -6.33864902e-04 9.87120784e-01 -4.25862285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.13, Y:-75.45, Z:-42.59 [[ 9.28809327e-01 3.38467171e-01 1.50841669e-01 2.46132149e+02] [-3.34210433e-01 9.40977935e-01 -5.35155329e-02 -7.54477649e+01] [-1.60051933e-01 -7.07133482e-04 9.87108342e-01 -4.25902072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.16, Y:-75.46, Z:-42.60 [[ 9.28405342e-01 3.39293071e-01 1.51471885e-01 2.46159220e+02] [-3.35013259e-01 9.40680320e-01 -5.37275657e-02 -7.54575471e+01] [-1.60716012e-01 -8.64130880e-04 9.87000312e-01 -4.25952406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.19, Y:-75.47, Z:-42.60 [[ 9.28213685e-01 3.39627796e-01 1.51895740e-01 2.46185421e+02] [-3.35329644e-01 9.40559456e-01 -5.38696519e-02 -7.54673604e+01] [-1.61162606e-01 -9.32596346e-04 9.86927426e-01 -4.26003096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.21, Y:-75.48, Z:-42.60 [[ 9.28079222e-01 3.39882740e-01 1.52146902e-01 2.46210276e+02] [-3.35575037e-01 9.40467304e-01 -5.39503944e-02 -7.54789875e+01] [-1.61425995e-01 -9.86462200e-04 9.86884327e-01 -4.26034877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.24, Y:-75.49, Z:-42.61 [[ 9.28278486e-01 3.39576230e-01 1.51614763e-01 2.46236041e+02] [-3.35296420e-01 9.40578068e-01 -5.37513663e-02 -7.54887257e+01] [-1.60858207e-01 -9.39650446e-04 9.86977079e-01 -4.26080353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.26, Y:-75.50, Z:-42.61 [[ 9.28297578e-01 3.39522382e-01 1.51618468e-01 2.46262549e+02] [-3.35243566e-01 9.40597505e-01 -5.37409135e-02 -7.54979867e+01] [-1.60858196e-01 -9.41556097e-04 9.86977079e-01 -4.26128837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:-75.51, Z:-42.62 [[ 9.28921717e-01 3.38206669e-01 1.50733850e-01 2.46289987e+02] [-3.33962345e-01 9.41071587e-01 -5.34174119e-02 -7.55082183e+01] [-1.59917468e-01 -7.18835818e-04 9.87130127e-01 -4.26203751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.32, Y:-75.52, Z:-42.63 [[ 9.29277972e-01 3.37220826e-01 1.50746691e-01 2.46317679e+02] [-3.32963553e-01 9.41425413e-01 -5.34178238e-02 -7.55187813e+01] [-1.59930368e-01 -5.53146720e-04 9.87128143e-01 -4.26259529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.35, Y:-75.53, Z:-42.63 [[ 9.30011324e-01 3.35161432e-01 1.50816945e-01 2.46345079e+02] [-3.30873913e-01 9.42160694e-01 -5.34385707e-02 -7.55293689e+01] [-1.60004346e-01 -2.02916842e-04 9.87116289e-01 -4.26308001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.37, Y:-75.54, Z:-42.64 [[ 9.30396068e-01 3.34131965e-01 1.50728186e-01 2.46371654e+02] [-3.29836766e-01 9.42526301e-01 -5.34029838e-02 -7.55391935e+01] [-1.59908924e-01 -2.97712739e-05 9.87131772e-01 -4.26356579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:-75.55, Z:-42.64 [[ 9.31334949e-01 3.31760364e-01 1.50167488e-01 2.46397333e+02] [-3.27467317e-01 9.43363621e-01 -5.31999455e-02 -7.55519453e+01] [-1.59312178e-01 3.72024244e-04 9.87228186e-01 -4.26415076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:-75.56, Z:-42.65 [[ 9.31733086e-01 3.30744774e-01 1.49937823e-01 2.46426308e+02] [-3.26452932e-01 9.43720088e-01 -5.31119419e-02 -7.55646378e+01] [-1.59065832e-01 5.38511693e-04 9.87267831e-01 -4.26471019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.45, Y:-75.58, Z:-42.65 [[ 9.32090651e-01 3.29446819e-01 1.50571618e-01 2.46454873e+02] [-3.25096810e-01 9.44173801e-01 -5.33656904e-02 -7.55782028e+01] [-1.59746934e-01 7.91308186e-04 9.87157683e-01 -4.26521220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.48, Y:-75.59, Z:-42.66 [[ 9.32095456e-01 3.29446306e-01 1.50542988e-01 2.46483925e+02] [-3.25092894e-01 9.44173955e-01 -5.33868275e-02 -7.55899293e+01] [-1.59726862e-01 8.21163573e-04 9.87160907e-01 -4.26574643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.51, Y:-75.60, Z:-42.66 [[ 9.31908846e-01 3.29813457e-01 1.50893956e-01 2.46511931e+02] [-3.25439581e-01 9.44045795e-01 -5.35407935e-02 -7.56041435e+01] [-1.60109279e-01 7.88273175e-04 9.87098981e-01 -4.26625847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.54, Y:-75.62, Z:-42.67 [[ 9.31620959e-01 3.30442541e-01 1.51294800e-01 2.46541365e+02] [-3.26050188e-01 9.43825850e-01 -5.37032616e-02 -7.56168926e+01] [-1.60541786e-01 7.01386133e-04 9.87028796e-01 -4.26677358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.57, Y:-75.63, Z:-42.67 [[ 9.30695327e-01 3.32653512e-01 1.52144174e-01 2.46570538e+02] [-3.28235967e-01 9.43049054e-01 -5.40336139e-02 -7.56306237e+01] [-1.61453891e-01 3.49642045e-04 9.86880195e-01 -4.26727950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.60, Y:-75.64, Z:-42.68 [[ 9.29645672e-01 3.35558741e-01 1.52181655e-01 2.46598000e+02] [-3.31172910e-01 9.42019275e-01 -5.40757682e-02 -7.56443551e+01] [-1.61503649e-01 -1.27137742e-04 9.86872107e-01 -4.26779953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.63, Y:-75.66, Z:-42.68 [[ 9.29066929e-01 3.37324545e-01 1.51811705e-01 2.46626011e+02] [-3.32978982e-01 9.41388329e-01 -5.39723155e-02 -7.56561041e+01] [-1.61119954e-01 -4.06213620e-04 9.86934747e-01 -4.26831070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:-75.67, Z:-42.69 [[ 9.28527089e-01 3.38985307e-01 1.51414683e-01 2.46653017e+02] [-3.34684475e-01 9.40791413e-01 -5.38314038e-02 -7.56669221e+01] [-1.60697689e-01 -6.92227092e-04 9.87003431e-01 -4.26879927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.68, Y:-75.68, Z:-42.69 [[ 9.27186586e-01 3.42551127e-01 1.51603959e-01 2.46679481e+02] [-3.38287394e-01 9.39498268e-01 -5.38947478e-02 -7.56779719e+01] [-1.60893363e-01 -1.31522087e-03 9.86970919e-01 -4.26930446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.71, Y:-75.69, Z:-42.70 [[ 9.26633934e-01 3.44104068e-01 1.51465976e-01 2.46707056e+02] [-3.39869739e-01 9.38930170e-01 -5.38395385e-02 -7.56888092e+01] [-1.60742379e-01 -1.58915827e-03 9.86995118e-01 -4.26980432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.74, Y:-75.70, Z:-42.70 [[ 9.25345673e-01 3.47549949e-01 1.51474151e-01 2.46736592e+02] [-3.43361936e-01 9.37658905e-01 -5.38364030e-02 -7.57005586e+01] [-1.60741925e-01 -2.19317505e-03 9.86994034e-01 -4.27037367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.76, Y:-75.71, Z:-42.71 [[ 9.23934909e-01 3.51436663e-01 1.51117691e-01 2.46764856e+02] [-3.47314984e-01 9.36207375e-01 -5.37406150e-02 -7.57107861e+01] [-1.60363919e-01 -2.83260805e-03 9.87053894e-01 -4.27089493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.79, Y:-75.72, Z:-42.71 [[ 9.23216479e-01 3.53454491e-01 1.50802039e-01 2.46791201e+02] [-3.49376383e-01 9.35446338e-01 -5.36310750e-02 -7.57200975e+01] [-1.60023359e-01 -3.17357851e-03 9.87108126e-01 -4.27138819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.82, Y:-75.73, Z:-42.72 [[ 9.22478022e-01 3.55460335e-01 1.50606273e-01 2.46816882e+02] [-3.51420675e-01 9.34684722e-01 -5.35535194e-02 -7.57285545e+01] [-1.59805534e-01 -3.52421327e-03 9.87142224e-01 -4.27190569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.84, Y:-75.74, Z:-42.72 [[ 9.21319341e-01 3.58506877e-01 1.50477542e-01 2.46844113e+02] [-3.54516085e-01 9.33518264e-01 -5.34976290e-02 -7.57372079e+01] [-1.59652802e-01 -4.05830875e-03 9.87164886e-01 -4.27241151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.87, Y:-75.75, Z:-42.73 [[ 9.20961118e-01 3.59381164e-01 1.50584855e-01 2.46871145e+02] [-3.55397530e-01 9.33181315e-01 -5.35278302e-02 -7.57462180e+01] [-1.59759867e-01 -4.22043528e-03 9.87146885e-01 -4.27293201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.90, Y:-75.75, Z:-42.73 [[ 9.21006791e-01 3.59152741e-01 1.50850259e-01 2.46898832e+02] [-3.55153243e-01 9.33269362e-01 -5.36140971e-02 -7.57545580e+01] [-1.60039575e-01 -4.19601134e-03 9.87101681e-01 -4.27340634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.93, Y:-75.76, Z:-42.74 [[ 9.21195124e-01 3.58599005e-01 1.51017537e-01 2.46925196e+02] [-3.54584476e-01 9.33482643e-01 -5.36656657e-02 -7.57625795e+01] [-1.60216704e-01 -4.11192475e-03 9.87073300e-01 -4.27390181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:-75.77, Z:-42.74 [[ 9.21834373e-01 3.57027397e-01 1.50840399e-01 2.46952977e+02] [-3.53003287e-01 9.34086000e-01 -5.35912706e-02 -7.57707743e+01] [-1.60031457e-01 -3.84488147e-03 9.87104427e-01 -4.27444774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.98, Y:-75.78, Z:-42.75 [[ 9.22233072e-01 3.55974047e-01 1.50892802e-01 2.46980326e+02] [-3.51933773e-01 9.34488646e-01 -5.36058744e-02 -7.57794325e+01] [-1.60089910e-01 -3.66716278e-03 9.87095625e-01 -4.27498332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.01, Y:-75.79, Z:-42.75 [[ 9.22806976e-01 3.54594193e-01 1.50632807e-01 2.47008105e+02] [-3.50550667e-01 9.35014016e-01 -5.35071983e-02 -7.57876891e+01] [-1.59817128e-01 -3.42761512e-03 9.87140688e-01 -4.27544452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.04, Y:-75.80, Z:-42.76 [[ 9.24169087e-01 3.51190731e-01 1.50255014e-01 2.47037445e+02] [-3.47123598e-01 9.36299647e-01 -5.33683266e-02 -7.57958763e+01] [-1.59426178e-01 -2.83570332e-03 9.87205780e-01 -4.27598044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.07, Y:-75.81, Z:-42.76 [[ 9.24868594e-01 3.49438791e-01 1.50035380e-01 2.47065765e+02] [-3.45359994e-01 9.36955790e-01 -5.32946745e-02 -7.58053621e+01] [-1.59199745e-01 -2.52564723e-03 9.87243163e-01 -4.27635111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:247.09, Y:-75.81, Z:-42.77 [[ 9.25488982e-01 3.47785613e-01 1.50051031e-01 2.47094753e+02] [-3.43684002e-01 9.37571412e-01 -5.33024778e-02 -7.58143321e+01] [-1.59221392e-01 -2.23928277e-03 9.87240363e-01 -4.27680330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:-75.82, Z:-42.78 [[ 9.26960768e-01 3.43753522e-01 1.50257280e-01 2.47123942e+02] [-3.39587878e-01 9.39058634e-01 -5.33756032e-02 -7.58215548e+01] [-1.59448448e-01 -1.54846070e-03 9.87205042e-01 -4.27757065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.15, Y:-75.83, Z:-42.78 [[ 9.27790325e-01 3.41479364e-01 1.50322839e-01 2.47149911e+02] [-3.37279913e-01 9.39888562e-01 -5.34017887e-02 -7.58295972e+01] [-1.59522326e-01 -1.15521133e-03 9.87193645e-01 -4.27804008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.18, Y:-75.84, Z:-42.78 [[ 9.29426210e-01 3.36973647e-01 1.50385112e-01 2.47177852e+02] [-3.32713659e-01 9.41513998e-01 -5.34136040e-02 -7.58389937e+01] [-1.59588665e-01 -3.91177321e-04 9.87183521e-01 -4.27838266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.21, Y:-75.85, Z:-42.79 [[ 9.30165550e-01 3.34736643e-01 1.50809247e-01 2.47207092e+02] [-3.30423954e-01 9.42311721e-01 -5.35596058e-02 -7.58490721e+01] [-1.60037684e-01 -1.16873980e-05 9.87110905e-01 -4.27906881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.24, Y:-75.86, Z:-42.80 [[ 9.31513489e-01 3.30484022e-01 1.51864848e-01 2.47236217e+02] [-3.26053632e-01 9.43811307e-01 -5.39374364e-02 -7.58592759e+01] [-1.61157221e-01 7.27364426e-04 9.86928478e-01 -4.27962463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.27, Y:-75.87, Z:-42.80 [[ 9.32176932e-01 3.28502725e-01 1.52092498e-01 2.47266057e+02] [-3.24028325e-01 9.44502385e-01 -5.40452545e-02 -7.58700299e+01] [-1.61405740e-01 1.09746233e-03 9.86887523e-01 -4.28004220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.30, Y:-75.88, Z:-42.81 [[ 9.32769260e-01 3.26692011e-01 1.52360879e-01 2.47296585e+02] [-3.22172979e-01 9.45129755e-01 -5.41693476e-02 -7.58809572e+01] [-1.61697493e-01 1.44094403e-03 9.86839320e-01 -4.28050555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.33, Y:-75.89, Z:-42.81 [[ 9.34069816e-01 3.22943413e-01 1.52384814e-01 2.47326019e+02] [-3.18367884e-01 9.46415895e-01 -5.42111024e-02 -7.58914707e+01] [-1.61726529e-01 2.12252360e-03 9.86833332e-01 -4.28125504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.36, Y:-75.90, Z:-42.82 [[ 9.34706677e-01 3.21317060e-01 1.51917001e-01 2.47356434e+02] [-3.16743428e-01 9.46968565e-01 -5.40753055e-02 -7.59032586e+01] [-1.61235943e-01 2.42583734e-03 9.86912907e-01 -4.28185116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.39, Y:-75.92, Z:-42.82 [[ 9.35931379e-01 3.17985561e-01 1.51385720e-01 2.47386170e+02] [-3.13395569e-01 9.48090746e-01 -5.39180361e-02 -7.59173365e+01] [-1.60672558e-01 3.01996796e-03 9.87003145e-01 -4.28243260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:247.42, Y:-75.93, Z:-42.83 [[ 9.36432163e-01 3.16655050e-01 1.51077409e-01 2.47415347e+02] [-3.12061193e-01 9.48535113e-01 -5.38419074e-02 -7.59296327e+01] [-1.60351539e-01 3.27389742e-03 9.87054540e-01 -4.28276282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.44, Y:-75.94, Z:-42.84 [[ 9.37293848e-01 3.14105685e-01 1.51055821e-01 2.47444300e+02] [-3.09475169e-01 9.49380658e-01 -5.38654462e-02 -7.59434103e+01] [-1.60328918e-01 3.73972544e-03 9.87056560e-01 -4.28350807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.47, Y:-75.96, Z:-42.84 [[ 9.37505938e-01 3.13515599e-01 1.50965509e-01 2.47474183e+02] [-3.08877942e-01 9.49575170e-01 -5.38647804e-02 -7.59558201e+01] [-1.60240548e-01 3.86863570e-03 9.87070413e-01 -4.28404065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.50, Y:-75.97, Z:-42.85 [[ 9.37449705e-01 3.13481601e-01 1.51384726e-01 2.47502883e+02] [-3.08812311e-01 9.49586199e-01 -5.40463499e-02 -7.59680871e+01] [-1.60695383e-01 3.91626756e-03 9.86996280e-01 -4.28457952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:247.53, Y:-75.98, Z:-42.85 [[ 9.37112601e-01 3.14314240e-01 1.51744953e-01 2.47532096e+02] [-3.09628553e-01 9.49311347e-01 -5.42044770e-02 -7.59832658e+01] [-1.61090444e-01 3.81112831e-03 9.86932289e-01 -4.28493187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.56, Y:-76.00, Z:-42.86 [[ 9.36747889e-01 3.15268585e-01 1.52016816e-01 2.47560552e+02] [-3.10573082e-01 9.48995331e-01 -5.43343638e-02 -7.59963466e+01] [-1.61393167e-01 3.68526956e-03 9.86883308e-01 -4.28569545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.59, Y:-76.01, Z:-42.86 [[ 9.35860595e-01 3.17854155e-01 1.52097610e-01 2.47589520e+02] [-3.13182518e-01 9.48133978e-01 -5.43936633e-02 -7.60111238e+01] [-1.61498164e-01 3.27057341e-03 9.86867593e-01 -4.28620779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.62, Y:-76.02, Z:-42.87 [[ 9.35261180e-01 3.19529546e-01 1.52274076e-01 2.47619561e+02] [-3.14863696e-01 9.47571513e-01 -5.44892745e-02 -7.60238181e+01] [-1.61701510e-01 3.01612478e-03 9.86835105e-01 -4.28680675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.65, Y:-76.04, Z:-42.87 [[ 9.34036951e-01 3.23299944e-01 1.51829245e-01 2.47648013e+02] [-3.18705478e-01 9.46293528e-01 -5.43633816e-02 -7.60383012e+01] [-1.61250710e-01 2.38859511e-03 9.86910585e-01 -4.28739183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:247.68, Y:-76.05, Z:-42.88 [[ 9.33423178e-01 3.25431982e-01 1.51046995e-01 2.47678169e+02] [-3.20907804e-01 9.45563254e-01 -5.41138965e-02 -7.60516406e+01] [-1.60434881e-01 2.03900565e-03 9.87044321e-01 -4.28774925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.71, Y:-76.07, Z:-42.88 [[ 9.32099183e-01 3.29539394e-01 1.50316002e-01 2.47706075e+02] [-3.25106996e-01 9.44140851e-01 -5.38840778e-02 -7.60660602e+01] [-1.59676405e-01 1.35652097e-03 9.87168479e-01 -4.28849417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.74, Y:-76.08, Z:-42.89 [[ 9.31329313e-01 3.31930865e-01 1.49825267e-01 2.47736522e+02] [-3.27553506e-01 9.43303215e-01 -5.37377343e-02 -7.60784154e+01] [-1.59167869e-01 9.71735607e-04 9.87251055e-01 -4.28888389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:247.77, Y:-76.09, Z:-42.89 [[ 9.30472126e-01 3.34374862e-01 1.49716649e-01 2.47766172e+02] [-3.30029891e-01 9.42439976e-01 -5.37323149e-02 -7.60903674e+01] [-1.59065691e-01 5.85451827e-04 9.87267828e-01 -4.28937144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.80, Y:-76.10, Z:-42.90 [[ 9.28878063e-01 3.38576308e-01 1.50171994e-01 2.47796621e+02] [-3.34254087e-01 9.40938932e-01 -5.39271023e-02 -7.61026100e+01] [-1.59561115e-01 -1.03900338e-04 9.87188047e-01 -4.29000177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:-76.11, Z:-42.91 [[ 9.27532526e-01 3.42154499e-01 1.50378562e-01 2.47824691e+02] [-3.37861462e-01 9.39643457e-01 -5.40352360e-02 -7.61127839e+01] [-1.59790631e-01 -6.87681907e-04 9.87150688e-01 -4.29064207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38587156 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:247.86, Y:-76.12, Z:-42.91 [[ 9.26752289e-01 3.44184666e-01 1.50556008e-01 2.47856034e+02] [-3.39908015e-01 9.38901399e-01 -5.40990233e-02 -7.61240040e+01] [-1.59977301e-01 -1.03880029e-03 9.87120147e-01 -4.29095185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.89, Y:-76.13, Z:-42.92 [[ 9.25951603e-01 3.45844953e-01 1.51673656e-01 2.47885062e+02] [-3.41520677e-01 9.38290771e-01 -5.45349086e-02 -7.61343328e+01] [-1.61174615e-01 -1.30300372e-03 9.86925046e-01 -4.29171030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:-76.14, Z:-42.92 [[ 9.24756582e-01 3.48694758e-01 1.52437626e-01 2.47910608e+02] [-3.44361227e-01 9.37234641e-01 -5.48322314e-02 -7.61419357e+01] [-1.61989535e-01 -1.78714107e-03 9.86790858e-01 -4.29206143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:-76.15, Z:-42.93 [[ 9.23849781e-01 3.51318436e-01 1.51910955e-01 2.47936788e+02] [-3.47052324e-01 9.36253324e-01 -5.46296349e-02 -7.61491533e+01] [-1.61419534e-01 -2.25147369e-03 9.86883309e-01 -4.29250099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.96, Y:-76.16, Z:-42.93 [[ 9.23407067e-01 3.52526493e-01 1.51804018e-01 2.47963022e+02] [-3.48284755e-01 9.35798566e-01 -5.45781447e-02 -7.61570840e+01] [-1.61298224e-01 -2.47318087e-03 9.86902612e-01 -4.29300905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.99, Y:-76.16, Z:-42.93 [[ 9.22596366e-01 3.54633058e-01 1.51826675e-01 2.47990113e+02] [-3.50420144e-01 9.35001208e-01 -5.45753010e-02 -7.61624624e+01] [-1.61312330e-01 -2.85215084e-03 9.86899284e-01 -4.29347752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:-76.17, Z:-42.94 [[ 9.22322893e-01 3.55288741e-01 1.51955231e-01 2.48017109e+02] [-3.51079284e-01 9.34751855e-01 -5.46104850e-02 -7.61699952e+01] [-1.61442924e-01 -2.97983307e-03 9.86877552e-01 -4.29395825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.04, Y:-76.18, Z:-42.94 [[ 9.22341599e-01 3.55238664e-01 1.51958764e-01 2.48043580e+02] [-3.51030152e-01 9.34770882e-01 -5.46006510e-02 -7.61793678e+01] [-1.61442890e-01 -2.98165633e-03 9.86877552e-01 -4.29444308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.07, Y:-76.19, Z:-42.95 [[ 9.22244461e-01 3.55428869e-01 1.52103496e-01 2.48070825e+02] [-3.51216366e-01 9.34698432e-01 -5.46434409e-02 -7.61871764e+01] [-1.61592755e-01 -3.02662623e-03 9.86852887e-01 -4.29492027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.10, Y:-76.19, Z:-42.95 [[ 9.22536802e-01 3.54619321e-01 1.52220190e-01 2.48098319e+02] [-3.50390667e-01 9.35006288e-01 -5.46774323e-02 -7.61924361e+01] [-1.61716509e-01 -2.89459057e-03 9.86833011e-01 -4.29540213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.13, Y:-76.20, Z:-42.96 [[ 9.23113595e-01 3.53172670e-01 1.52086670e-01 2.48127068e+02] [-3.48933620e-01 9.35554409e-01 -5.46193818e-02 -7.61973208e+01] [-1.61575428e-01 -2.64825849e-03 9.86856812e-01 -4.29594118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.15, Y:-76.20, Z:-42.96 [[ 9.23449750e-01 3.52374278e-01 1.51897751e-01 2.48153744e+02] [-3.48136392e-01 9.35855787e-01 -5.45435508e-02 -7.62045057e+01] [-1.61374133e-01 -2.51290649e-03 9.86890103e-01 -4.29641833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:-76.21, Z:-42.97 [[ 9.23813201e-01 3.51513538e-01 1.51681910e-01 2.48180938e+02] [-3.47277873e-01 9.36179803e-01 -5.44560049e-02 -7.62116152e+01] [-1.61143563e-01 -2.36859479e-03 9.86928134e-01 -4.29686509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:-76.22, Z:-42.97 [[ 9.24463020e-01 3.49720241e-01 1.51867958e-01 2.48208612e+02] [-3.45451848e-01 9.36851895e-01 -5.45119034e-02 -7.62155966e+01] [-1.61341700e-01 -2.06882803e-03 9.86896436e-01 -4.29729476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.24, Y:-76.22, Z:-42.98 [[ 9.24798581e-01 3.48835120e-01 1.51860605e-01 2.48235295e+02] [-3.44557054e-01 9.37182135e-01 -5.44984542e-02 -7.62222197e+01] [-1.61332021e-01 -1.92454967e-03 9.86898310e-01 -4.29775676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:248.26, Y:-76.23, Z:-42.98 [[ 9.25352777e-01 3.47457845e-01 1.51641962e-01 2.48261875e+02] [-3.43175680e-01 9.37694076e-01 -5.44083842e-02 -7.62270751e+01] [-1.61098389e-01 -1.69288399e-03 9.86936899e-01 -4.29804665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:-76.23, Z:-42.99 [[ 9.25900807e-01 3.45780393e-01 1.52130257e-01 2.48290186e+02] [-3.41450219e-01 9.38314396e-01 -5.45695990e-02 -7.62317827e+01] [-1.61615108e-01 -1.41887399e-03 9.86852848e-01 -4.29867315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.32, Y:-76.24, Z:-42.99 [[ 9.26277293e-01 3.44805474e-01 1.52051179e-01 2.48317107e+02] [-3.40468098e-01 9.38673324e-01 -5.45331614e-02 -7.62379714e+01] [-1.61529718e-01 -1.25574655e-03 9.86867050e-01 -4.29912883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:248.34, Y:-76.25, Z:-42.99 [[ 9.26548692e-01 3.44211455e-01 1.51743191e-01 2.48344605e+02] [-3.39885476e-01 9.38891437e-01 -5.44126202e-02 -7.62451865e+01] [-1.61199829e-01 -1.15936453e-03 9.86921107e-01 -4.29943264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:248.37, Y:-76.25, Z:-43.00 [[ 9.26922206e-01 3.43422910e-01 1.51247907e-01 2.48371071e+02] [-3.39116733e-01 9.39180305e-01 -5.42235786e-02 -7.62522403e+01] [-1.60670675e-01 -1.02965706e-03 9.87007535e-01 -4.29984486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:248.40, Y:-76.26, Z:-43.00 [[ 9.27543614e-01 3.41843314e-01 1.51016530e-01 2.48399140e+02] [-3.37531551e-01 9.39756650e-01 -5.41284601e-02 -7.62577963e+01] [-1.60422241e-01 -7.66336297e-04 9.87048184e-01 -4.30037133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.43, Y:-76.26, Z:-43.01 [[ 9.28139787e-01 3.39990827e-01 1.51534728e-01 2.48426775e+02] [-3.35626031e-01 9.40428642e-01 -5.43059589e-02 -7.62640632e+01] [-1.60971126e-01 -4.55478212e-04 9.86959011e-01 -4.30098758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04587156 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:248.45, Y:-76.27, Z:-43.01 [[ 9.28469301e-01 3.39054178e-01 1.51614711e-01 2.48454507e+02] [-3.34673667e-01 9.40766801e-01 -5.43264471e-02 -7.62722782e+01] [-1.61053695e-01 -3.01012827e-04 9.86945600e-01 -4.30126444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.48, Y:-76.28, Z:-43.02 [[ 9.28767644e-01 3.37973970e-01 1.52198094e-01 2.48481705e+02] [-3.33546427e-01 9.41155450e-01 -5.45270580e-02 -7.62798963e+01] [-1.61670792e-01 -1.22163187e-04 9.86844740e-01 -4.30191832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.51, Y:-76.29, Z:-43.02 [[ 9.29305910e-01 3.36409881e-01 1.52377549e-01 2.48508737e+02] [-3.31952297e-01 9.41715653e-01 -5.45829709e-02 -7.62854522e+01] [-1.61858574e-01 1.42200148e-04 9.86813955e-01 -4.30234850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.54, Y:-76.29, Z:-43.03 [[ 9.29464298e-01 3.35917340e-01 1.52498065e-01 2.48536590e+02] [-3.31447813e-01 9.41891444e-01 -5.46155093e-02 -7.62933872e+01] [-1.61982919e-01 2.18015965e-04 9.86793538e-01 -4.30284638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:248.56, Y:-76.30, Z:-43.03 [[ 9.29754343e-01 3.35516479e-01 1.51609878e-01 2.48563673e+02] [-3.31095238e-01 9.42034296e-01 -5.42893044e-02 -7.63007256e+01] [-1.61036661e-01 2.78407970e-04 9.86948386e-01 -4.30314983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:-76.31, Z:-43.04 [[ 9.29870645e-01 3.35335892e-01 1.51295816e-01 2.48590245e+02] [-3.30932378e-01 9.42098588e-01 -5.41665112e-02 -7.63087261e+01] [-1.60699550e-01 2.99164466e-04 9.87003326e-01 -4.30382836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.62, Y:-76.31, Z:-43.04 [[ 9.30159739e-01 3.34963519e-01 1.50340616e-01 2.48617060e+02] [-3.30612256e-01 9.42231031e-01 -5.38165415e-02 -7.63143090e+01] [-1.59682172e-01 3.53529901e-04 9.87168415e-01 -4.30434632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.64, Y:-76.32, Z:-43.05 [[ 9.30337401e-01 3.34537211e-01 1.50190461e-01 2.48642657e+02] [-3.30190728e-01 9.42382449e-01 -5.37531599e-02 -7.63215009e+01] [-1.59519287e-01 4.17077157e-04 9.87194724e-01 -4.30470507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:248.67, Y:-76.33, Z:-43.05 [[ 9.30579159e-01 3.33914887e-01 1.50077570e-01 2.48669526e+02] [-3.29569881e-01 9.42603094e-01 -5.36945136e-02 -7.63292393e+01] [-1.59392980e-01 5.05948268e-04 9.87215084e-01 -4.30514968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.70, Y:-76.34, Z:-43.06 [[ 9.30853911e-01 3.32840104e-01 1.50759615e-01 2.48696341e+02] [-3.28443177e-01 9.42983033e-01 -5.39266123e-02 -7.63359207e+01] [-1.60112698e-01 6.81831247e-04 9.87098505e-01 -4.30565928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:-76.34, Z:-43.06 [[ 9.31010165e-01 3.32383371e-01 1.50802409e-01 2.48722753e+02] [-3.27979935e-01 9.43144068e-01 -5.39298512e-02 -7.63439567e+01] [-1.60153784e-01 7.49075324e-04 9.87091791e-01 -4.30618803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.75, Y:-76.35, Z:-43.07 [[ 9.31140608e-01 3.31789084e-01 1.51304897e-01 2.48749588e+02] [-3.27350300e-01 9.43353218e-01 -5.40970133e-02 -7.63492588e+01] [-1.60682760e-01 8.42222500e-04 9.87005745e-01 -4.30659196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.78, Y:-76.36, Z:-43.07 [[ 9.31081209e-01 3.31762678e-01 1.51727741e-01 2.48776481e+02] [-3.27300119e-01 9.43362507e-01 -5.42384764e-02 -7.63569783e+01] [-1.61128564e-01 8.39918647e-04 9.86933068e-01 -4.30691303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.80, Y:-76.36, Z:-43.08 [[ 9.31107420e-01 3.31355355e-01 1.52455242e-01 2.48803404e+02] [-3.26847571e-01 9.43505605e-01 -5.44778653e-02 -7.63631705e+01] [-1.61893908e-01 8.95119168e-04 9.86807763e-01 -4.30756659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.83, Y:-76.37, Z:-43.08 [[ 9.31041004e-01 3.31451438e-01 1.52651873e-01 2.48830313e+02] [-3.26935216e-01 9.43471881e-01 -5.45359854e-02 -7.63709904e+01] [-1.62098780e-01 8.67965690e-04 9.86774155e-01 -4.30804705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.86, Y:-76.38, Z:-43.09 [[ 9.31430700e-01 3.30961458e-01 1.51331970e-01 2.48857020e+02] [-3.26519045e-01 9.43643811e-01 -5.40524842e-02 -7.63770512e+01] [-1.60692766e-01 9.33372816e-04 9.87004034e-01 -4.30852817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52587156 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:248.88, Y:-76.39, Z:-43.09 [[ 9.31735765e-01 3.30504482e-01 1.50450166e-01 2.48883494e+02] [-3.26110048e-01 9.43803898e-01 -5.37255878e-02 -7.63855946e+01] [-1.59752000e-01 9.94740879e-04 9.87156679e-01 -4.30887841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.91, Y:-76.39, Z:-43.10 [[ 9.32449691e-01 3.28659464e-01 1.50068421e-01 2.48909499e+02] [-3.24265744e-01 9.44447605e-01 -5.35765682e-02 -7.63939391e+01] [-1.59340207e-01 1.29540617e-03 9.87222883e-01 -4.30957320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:248.94, Y:-76.40, Z:-43.10 [[ 9.32777496e-01 3.27733785e-01 1.50055685e-01 2.48935342e+02] [-3.23330635e-01 9.44769010e-01 -5.35613439e-02 -7.64025015e+01] [-1.59321823e-01 1.44321641e-03 9.87225645e-01 -4.31007219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:248.96, Y:-76.41, Z:-43.11 [[ 9.32975032e-01 3.26834077e-01 1.50788180e-01 2.48961936e+02] [-3.22377857e-01 9.45080392e-01 -5.38104921e-02 -7.64117367e+01] [-1.60094055e-01 1.59307533e-03 9.87100479e-01 -4.31050809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64587156 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:248.99, Y:-76.42, Z:-43.11 [[ 9.32971783e-01 3.26618969e-01 1.51273598e-01 2.48986802e+02] [-3.22132982e-01 9.45154703e-01 -5.39715573e-02 -7.64203831e+01] [-1.60605087e-01 1.62372460e-03 9.87017411e-01 -4.31091484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67587156 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:249.01, Y:-76.43, Z:-43.11 [[ 9.33039171e-01 3.26603524e-01 1.50890830e-01 2.49012546e+02] [-3.22143064e-01 9.45160072e-01 -5.38171395e-02 -7.64291755e+01] [-1.60192855e-01 1.60506491e-03 9.87084430e-01 -4.31119032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70587156 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:249.04, Y:-76.44, Z:-43.12 [[ 9.32984795e-01 3.26753105e-01 1.50903214e-01 2.49039640e+02] [-3.22296774e-01 9.45108442e-01 -5.38035488e-02 -7.64383414e+01] [-1.60200378e-01 1.56227384e-03 9.87083278e-01 -4.31170172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73587156 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:249.07, Y:-76.45, Z:-43.12 [[ 9.32732613e-01 3.27586906e-01 1.50654213e-01 2.49065235e+02] [-3.23157489e-01 9.44820001e-01 -5.37066432e-02 -7.64468225e+01] [-1.59934707e-01 1.40890047e-03 9.87126590e-01 -4.31237541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76587156 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:249.09, Y:-76.46, Z:-43.13 [[ 9.32464133e-01 3.28423884e-01 1.50493830e-01 2.49091203e+02] [-3.24016421e-01 9.44529607e-01 -5.36393517e-02 -7.64554030e+01] [-1.59762323e-01 1.25429927e-03 9.87154713e-01 -4.31285599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79587156 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:249.12, Y:-76.46, Z:-43.13 [[ 9.31635605e-01 3.30679636e-01 1.50685358e-01 2.49116730e+02] [-3.26292141e-01 9.43742679e-01 -5.36953910e-02 -7.64625101e+01] [-1.59964176e-01 8.57090046e-04 9.87122448e-01 -4.31327602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82587156 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:249.14, Y:-76.47, Z:-43.14 [[ 9.31079478e-01 3.32081972e-01 1.51038308e-01 2.49143092e+02] [-3.27694439e-01 9.43250337e-01 -5.38066472e-02 -7.64711922e+01] [-1.60335152e-01 6.03851384e-04 9.87062447e-01 -4.31376511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85587156 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:249.17, Y:-76.48, Z:-43.14 [[ 9.30575137e-01 3.33480176e-01 1.51065833e-01 2.49168416e+02] [-3.29111328e-01 9.42757046e-01 -5.38041394e-02 -7.64798275e+01] [-1.60360993e-01 3.51317453e-04 9.87058371e-01 -4.31421614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88587156 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:249.19, Y:-76.49, Z:-43.15 [[ 9.29652059e-01 3.35975992e-01 1.51218985e-01 2.49194774e+02] [-3.31634018e-01 9.41870545e-01 -5.38400886e-02 -7.64892681e+01] [-1.60517685e-01 -9.68104485e-05 9.87032960e-01 -4.31462731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91587156 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:249.22, Y:-76.50, Z:-43.15 [[ 9.29186529e-01 3.37086053e-01 1.51609328e-01 2.49221752e+02] [-3.32738209e-01 9.41473793e-01 -5.39664910e-02 -7.64971394e+01] [-1.60927561e-01 -3.01279838e-04 9.86966174e-01 -4.31504590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94587156 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:249.25, Y:-76.50, Z:-43.16 [[ 9.29163846e-01 3.36985379e-01 1.51971714e-01 2.49246863e+02] [-3.32617239e-01 9.41509834e-01 -5.40833166e-02 -7.65049064e+01] [-1.61308150e-01 -2.96149587e-04 9.86904044e-01 -4.31550944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97587156000003 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:249.27, Y:-76.51, Z:-43.16 [[ 9.29523436e-01 3.35723101e-01 1.52565336e-01 2.49273483e+02] [-3.31306952e-01 9.41960716e-01 -5.42744293e-02 -7.65137222e+01] [-1.61931733e-01 -9.66024612e-05 9.86801958e-01 -4.31598779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00587156 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:249.30, Y:-76.52, Z:-43.16 [[ 9.29812353e-01 3.34761353e-01 1.52917707e-01 2.49298131e+02] [-3.30313777e-01 9.42302941e-01 -5.43872748e-02 -7.65225379e+01] [-1.62301562e-01 5.91346630e-05 9.86741202e-01 -4.31644376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03587156000003 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:249.32, Y:-76.53, Z:-43.17 [[ 9.30057185e-01 3.34011039e-01 1.53069456e-01 2.49323843e+02] [-3.29546911e-01 9.42569146e-01 -5.44264511e-02 -7.65323141e+01] [-1.62457582e-01 1.76145340e-04 9.86715513e-01 -4.31693440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06587156 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:249.35, Y:-76.54, Z:-43.17 [[ 9.30427808e-01 3.33135687e-01 1.52724290e-01 2.49348142e+02] [-3.28682095e-01 9.42878844e-01 -5.42914968e-02 -7.65434111e+01] [-1.62086937e-01 3.16578860e-04 9.86776431e-01 -4.31742566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09587156 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:249.37, Y:-76.55, Z:-43.18 [[ 9.30353276e-01 3.33537500e-01 1.52300745e-01 2.49373743e+02] [-3.29116450e-01 9.42736804e-01 -5.41265203e-02 -7.65537478e+01] [-1.61632742e-01 2.32104965e-04 9.86850953e-01 -4.31787056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12587156 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:249.40, Y:-76.56, Z:-43.18 [[ 9.30107810e-01 3.34339532e-01 1.52041241e-01 2.49399421e+02] [-3.29946256e-01 9.42452689e-01 -5.40221932e-02 -7.65626521e+01] [-1.61353431e-01 8.10254941e-05 9.86896683e-01 -4.31831277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15587156 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:249.43, Y:-76.57, Z:-43.19 [[ 9.29809076e-01 3.35190084e-01 1.51995691e-01 2.49425763e+02] [-3.30812731e-01 9.42150519e-01 -5.39938486e-02 -7.65717453e+01] [-1.61301022e-01 -7.81391190e-05 9.86905251e-01 -4.31879005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18587156 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:249.45, Y:-76.58, Z:-43.19 [[ 9.28744024e-01 3.37972526e-01 1.52345365e-01 2.49450392e+02] [-3.33614043e-01 9.41155801e-01 -5.41057151e-02 -7.65813156e+01] [-1.61666969e-01 -5.74193510e-04 9.86845206e-01 -4.31926514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21587156 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:249.48, Y:-76.59, Z:-43.20 [[ 9.27725707e-01 3.41062218e-01 1.51662704e-01 2.49476476e+02] [-3.36786283e-01 9.40040056e-01 -5.38487945e-02 -7.65912237e+01] [-1.60934806e-01 -1.12100730e-03 9.86964402e-01 -4.31956114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24587156 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:249.50, Y:-76.60, Z:-43.20 [[ 9.27226844e-01 3.42161406e-01 1.52236500e-01 2.49502160e+02] [-3.37869524e-01 9.39640254e-01 -5.40405125e-02 -7.65989087e+01] [-1.61538121e-01 -1.32826003e-03 9.86865579e-01 -4.32025483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.27587156 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:249.53, Y:-76.61, Z:-43.21 [[ 9.26736817e-01 3.43474511e-01 1.52263364e-01 2.49528358e+02] [-3.39200776e-01 9.39160687e-01 -5.40373653e-02 -7.66072262e+01] [-1.61560223e-01 -1.56943537e-03 9.86861607e-01 -4.32069135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30587156 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:249.55, Y:-76.62, Z:-43.21 [[ 9.25898143e-01 3.45513172e-01 1.52752338e-01 2.49553844e+02] [-3.41241385e-01 9.38411888e-01 -5.41982099e-02 -7.66151252e+01] [-1.62070806e-01 -1.94339763e-03 9.86777218e-01 -4.32113742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33587156 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:249.58, Y:-76.62, Z:-43.21 [[ 9.25565672e-01 3.46502624e-01 1.52525795e-01 2.49579363e+02] [-3.42259341e-01 9.38046590e-01 -5.41030330e-02 -7.66245201e+01] [-1.61823145e-01 -2.12746808e-03 9.86817482e-01 -4.32140614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36587156 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:249.60, Y:-76.63, Z:-43.22 [[ 9.25128082e-01 3.47453836e-01 1.53015896e-01 2.49604743e+02] [-3.43198409e-01 9.37694231e-01 -5.42621563e-02 -7.66329104e+01] [-1.62335717e-01 -2.31536741e-03 9.86732869e-01 -4.32209298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39587156 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:249.63, Y:-76.64, Z:-43.22 [[ 9.25090466e-01 3.47849022e-01 1.52343980e-01 2.49630562e+02] [-3.43638460e-01 9.37547527e-01 -5.40115098e-02 -7.66414831e+01] [-1.61617573e-01 -2.38571780e-03 9.86850581e-01 -4.32236143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42587156 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:249.66, Y:-76.65, Z:-43.23 [[ 9.25090506e-01 3.47622174e-01 1.52860657e-01 2.49656092e+02] [-3.43382102e-01 9.37631707e-01 -5.41803906e-02 -7.66488966e+01] [-1.62161304e-01 -2.36784876e-03 9.86761422e-01 -4.32301826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45587156 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:249.68, Y:-76.66, Z:-43.24 [[ 9.25141659e-01 3.47309802e-01 1.53260602e-01 2.49682669e+02] [-3.43046853e-01 9.37747526e-01 -5.42994942e-02 -7.66571315e+01] [-1.62578497e-01 -2.34084304e-03 9.86692836e-01 -4.32352995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48587156 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:249.71, Y:-76.66, Z:-43.24 [[ 9.25243319e-01 3.47149905e-01 1.53008970e-01 2.49709169e+02] [-3.42900885e-01 9.37806781e-01 -5.41980124e-02 -7.66649097e+01] [-1.62307684e-01 -2.32056212e-03 9.86737468e-01 -4.32401724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51587156 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:249.74, Y:-76.67, Z:-43.25 [[ 9.25306332e-01 3.46980288e-01 1.53012651e-01 2.49735674e+02] [-3.42730684e-01 9.37869597e-01 -5.41876177e-02 -7.66741074e+01] [-1.62307948e-01 -2.30198458e-03 9.86737468e-01 -4.32450174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54587156 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:249.76, Y:-76.68, Z:-43.25 [[ 9.25356208e-01 3.46853205e-01 1.52999159e-01 2.49761264e+02] [-3.42607977e-01 9.37916583e-01 -5.41503290e-02 -7.66827128e+01] [-1.62282664e-01 -2.31038926e-03 9.86741607e-01 -4.32497825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57587156 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:249.79, Y:-76.69, Z:-43.25 [[ 9.25391297e-01 3.46738925e-01 1.53045958e-01 2.49787538e+02] [-3.42491812e-01 9.37958852e-01 -5.41530284e-02 -7.66899108e+01] [-1.62327774e-01 -2.30424624e-03 9.86734201e-01 -4.32549319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60587156 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:249.81, Y:-76.70, Z:-43.26 [[ 9.25428892e-01 3.46789472e-01 1.52703722e-01 2.49812694e+02] [-3.42567523e-01 9.37940078e-01 -5.39990880e-02 -7.66975888e+01] [-1.61953257e-01 -2.33901970e-03 9.86795659e-01 -4.32596680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63587156 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:249.84, Y:-76.70, Z:-43.26 [[ 9.25224309e-01 3.47346583e-01 1.52677204e-01 2.49839815e+02] [-3.43135929e-01 9.37733625e-01 -5.39757604e-02 -7.67041766e+01] [-1.61918844e-01 -2.44934856e-03 9.86801038e-01 -4.32643987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66587156 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:249.87, Y:-76.71, Z:-43.27 [[ 9.24942503e-01 3.47910018e-01 1.53101227e-01 2.49866574e+02] [-3.43685502e-01 9.37524416e-01 -5.41132673e-02 -7.67120307e+01] [-1.62362686e-01 -2.56701126e-03 9.86727809e-01 -4.32697089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69587156 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:249.89, Y:-76.72, Z:-43.27 [[ 9.24574998e-01 3.48931631e-01 1.52996048e-01 2.49893594e+02] [-3.44728861e-01 9.37144130e-01 -5.40637706e-02 -7.67187775e+01] [-1.62243908e-01 -2.75614268e-03 9.86746836e-01 -4.32747450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72587156000003 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:249.92, Y:-76.73, Z:-43.28 [[ 9.24501116e-01 3.49370923e-01 1.52438985e-01 2.49918706e+02] [-3.45206851e-01 9.36980215e-01 -5.38544883e-02 -7.67265622e+01] [-1.61647505e-01 -2.83444727e-03 9.86844491e-01 -4.32793686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75587156 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:249.95, Y:-76.73, Z:-43.28 [[ 9.24540002e-01 3.49401995e-01 1.52131621e-01 2.49945012e+02] [-3.45257432e-01 9.36968591e-01 -5.37323466e-02 -7.67335152e+01] [-1.61316740e-01 -2.84686900e-03 9.86898579e-01 -4.32845346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78587156000003 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:249.97, Y:-76.74, Z:-43.29 [[ 9.24650062e-01 3.49125246e-01 1.52098078e-01 2.49971107e+02] [-3.44984253e-01 9.37071799e-01 -5.36871438e-02 -7.67413797e+01] [-1.61270357e-01 -2.82962106e-03 9.86906209e-01 -4.32892409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81587156 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:250.00, Y:-76.75, Z:-43.29 [[ 9.24948223e-01 3.48345775e-01 1.52072371e-01 2.49997208e+02] [-3.44201064e-01 9.37362150e-01 -5.36453952e-02 -7.67480869e+01] [-1.61234031e-01 -2.72425874e-03 9.86912441e-01 -4.32918297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84587156 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:250.02, Y:-76.76, Z:-43.30 [[ 9.25275949e-01 3.47407628e-01 1.52224697e-01 2.50023269e+02] [-3.43244210e-01 9.37710671e-01 -5.36852897e-02 -7.67553222e+01] [-1.61393401e-01 -2.57653841e-03 9.86886788e-01 -4.32989453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87587156 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:250.05, Y:-76.76, Z:-43.30 [[ 9.25824750e-01 3.45907245e-01 1.52304662e-01 2.50049688e+02] [-3.41724674e-01 9.38265776e-01 -5.36803604e-02 -7.67618502e+01] [-1.61470677e-01 -2.34765474e-03 9.86874718e-01 -4.33035290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90587156 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:250.08, Y:-76.77, Z:-43.31 [[ 9.26041669e-01 3.45166744e-01 1.52665474e-01 2.50076152e+02] [-3.40959635e-01 9.38538668e-01 -5.37744852e-02 -7.67696469e+01] [-1.61843615e-01 -2.25535026e-03 9.86813842e-01 -4.33072042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93587156 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:250.10, Y:-76.78, Z:-43.31 [[ 9.26511188e-01 3.43526899e-01 1.53513151e-01 2.50103365e+02] [-3.39255830e-01 9.39140682e-01 -5.40394374e-02 -7.67761103e+01] [-1.62734446e-01 -2.01208806e-03 9.86667853e-01 -4.33132549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96587156 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:250.13, Y:-76.78, Z:-43.32 [[ 9.26777075e-01 3.42869171e-01 1.53378570e-01 2.50129919e+02] [-3.38602328e-01 9.39381188e-01 -5.39578241e-02 -7.67841703e+01] [-1.62581418e-01 -1.92746649e-03 9.86693249e-01 -4.33179703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99587156 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:250.16, Y:-76.79, Z:-43.32 [[ 9.26973688e-01 3.42232398e-01 1.53612392e-01 2.50156036e+02] [-3.37945821e-01 9.39613556e-01 -5.40276489e-02 -7.67899679e+01] [-1.62826298e-01 -1.83045718e-03 9.86653053e-01 -4.33222283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02587156 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:250.18, Y:-76.80, Z:-43.33 [[ 9.27190681e-01 3.41518952e-01 1.53890372e-01 2.50182220e+02] [-3.37209402e-01 9.39873310e-01 -5.41108074e-02 -7.67973013e+01] [-1.63117320e-01 -1.72224407e-03 9.86605176e-01 -4.33272033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05587156 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:250.21, Y:-76.80, Z:-43.33 [[ 9.27823803e-01 3.39675510e-01 1.54154267e-01 2.50208945e+02] [-3.35327880e-01 9.40541627e-01 -5.41909611e-02 -7.68048466e+01] [-1.63395847e-01 -1.41255972e-03 9.86559578e-01 -4.33318017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08587156 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:250.23, Y:-76.81, Z:-43.34 [[ 9.28427265e-01 3.38123646e-01 1.53932495e-01 2.50234939e+02] [-3.33769509e-01 9.41100993e-01 -5.41002467e-02 -7.68129576e+01] [-1.63158597e-01 -1.14982928e-03 9.86599184e-01 -4.33367295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11587156 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:250.26, Y:-76.82, Z:-43.34 [[ 9.29821457e-01 3.34350644e-01 1.53758591e-01 2.50260659e+02] [-3.29957168e-01 9.42448618e-01 -5.40265578e-02 -7.68202384e+01] [-1.62973386e-01 -4.98696671e-04 9.86630339e-01 -4.33408363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14587156 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:250.29, Y:-76.83, Z:-43.35 [[ 9.30728109e-01 3.31866107e-01 1.53655699e-01 2.50286486e+02] [-3.27447318e-01 9.43326498e-01 -5.39756682e-02 -7.68290035e+01] [-1.62860187e-01 -7.74748493e-05 9.86649154e-01 -4.33471696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17587156 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:250.31, Y:-76.84, Z:-43.35 [[ 9.32772116e-01 3.26087459e-01 1.53633162e-01 2.50310629e+02] [-3.21593930e-01 9.45339157e-01 -5.39557523e-02 -7.68390420e+01] [-1.62829738e-01 9.20928937e-04 9.86653753e-01 -4.33520189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20587156 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:250.34, Y:-76.85, Z:-43.36 [[ 9.33749008e-01 3.23179771e-01 1.53842862e-01 2.50336356e+02] [-3.18638463e-01 9.46336543e-01 -5.40062644e-02 -7.68489408e+01] [-1.63040855e-01 1.40804264e-03 9.86618314e-01 -4.33569166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23587156 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:250.36, Y:-76.86, Z:-43.36 [[ 9.35540966e-01 3.17767528e-01 1.54230020e-01 2.50362235e+02] [-3.13132027e-01 9.48165752e-01 -5.41298462e-02 -7.68594051e+01] [-1.63436330e-01 2.34632974e-03 9.86551094e-01 -4.33622805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26587156 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:250.39, Y:-76.87, Z:-43.37 [[ 9.36437708e-01 3.15216653e-01 1.54022339e-01 2.50387658e+02] [-3.10561438e-01 9.49015677e-01 -5.40447886e-02 -7.68696907e+01] [-1.63205432e-01 2.77617890e-03 9.86588202e-01 -4.33673971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29587156 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:250.41, Y:-76.88, Z:-43.37 [[ 9.38145184e-01 3.10481178e-01 1.53248333e-01 2.50411707e+02] [-3.05812059e-01 9.50572820e-01 -5.37614939e-02 -7.68812989e+01] [-1.62365632e-01 3.57089843e-03 9.86724202e-01 -4.33722029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32587156 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:250.44, Y:-76.89, Z:-43.38 [[ 9.38790201e-01 3.08462581e-01 1.53374688e-01 2.50436484e+02] [-3.03761895e-01 9.51228457e-01 -5.37878551e-02 -7.68908689e+01] [-1.62485908e-01 3.90612549e-03 9.86703133e-01 -4.33768724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35587156 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:250.46, Y:-76.90, Z:-43.38 [[ 9.39634053e-01 3.05834380e-01 1.53470450e-01 2.50461675e+02] [-3.01095183e-01 9.52074790e-01 -5.38078620e-02 -7.69025512e+01] [-1.62571640e-01 4.35048630e-03 9.86687152e-01 -4.33814880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38587156 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:250.49, Y:-76.91, Z:-43.39 [[ 9.39814304e-01 3.04979710e-01 1.54066385e-01 2.50487327e+02] [-3.00193981e-01 9.52348196e-01 -5.40045132e-02 -7.69138950e+01] [-1.63195125e-01 4.50441254e-03 9.86583530e-01 -4.33860967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41587156 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:250.51, Y:-76.93, Z:-43.39 [[ 9.39732381e-01 3.05126622e-01 1.54275070e-01 2.50512214e+02] [-3.00331118e-01 9.52301264e-01 -5.40696017e-02 -7.69277069e+01] [-1.63414419e-01 4.47735150e-03 9.86547354e-01 -4.33894810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44587156 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:250.54, Y:-76.94, Z:-43.40 [[ 9.39397665e-01 3.06126580e-01 1.54332575e-01 2.50538235e+02] [-3.01342550e-01 9.51981128e-01 -5.40795694e-02 -7.69389869e+01] [-1.63476893e-01 4.29524941e-03 9.86537813e-01 -4.33953714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47587156000003 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:250.57, Y:-76.95, Z:-43.40 [[ 9.38483526e-01 3.09221208e-01 1.53723506e-01 2.50565537e+02] [-3.04517747e-01 9.50982813e-01 -5.38575090e-02 -7.69535964e+01] [-1.62842296e-01 3.73284914e-03 9.86645049e-01 -4.34015174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50587156 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:250.59, Y:-76.96, Z:-43.41 [[ 9.37835904e-01 3.11397890e-01 1.53281351e-01 2.50591877e+02] [-3.06749749e-01 9.50273716e-01 -5.37071315e-02 -7.69648655e+01] [-1.62383526e-01 3.34946033e-03 9.86722034e-01 -4.34064858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53587156000003 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:250.62, Y:-76.98, Z:-43.41 [[ 9.36236648e-01 3.16293619e-01 1.53033610e-01 2.50617480e+02] [-3.11725716e-01 9.48658063e-01 -5.36186286e-02 -7.69767285e+01] [-1.62135798e-01 2.49521361e-03 9.86765300e-01 -4.34098185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56587156 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:250.64, Y:-76.99, Z:-43.42 [[ 9.35386279e-01 3.18732902e-01 1.53172605e-01 2.50642690e+02] [-3.14190805e-01 9.47842326e-01 -5.36569036e-02 -7.69871715e+01] [-1.62285698e-01 2.06450746e-03 9.86741653e-01 -4.34165732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59587156 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:250.67, Y:-77.00, Z:-43.42 [[ 9.33714099e-01 3.23591997e-01 1.53186817e-01 2.50666134e+02] [-3.19115826e-01 9.46195940e-01 -5.36500954e-02 -7.69998793e+01] [-1.62305486e-01 1.20951287e-03 9.86739817e-01 -4.34219901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62587156 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:250.69, Y:-77.01, Z:-43.42 [[ 9.32975463e-01 3.25735710e-01 1.53143828e-01 2.50692228e+02] [-3.21292661e-01 9.45460505e-01 -5.36233148e-02 -7.70112229e+01] [-1.62258470e-01 8.25248859e-04 9.86747946e-01 -4.34245549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65587156 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:250.72, Y:-77.02, Z:-43.43 [[ 9.31550359e-01 3.29741063e-01 1.53247382e-01 2.50716032e+02] [-3.25347764e-01 9.44071405e-01 -5.36471273e-02 -7.70225578e+01] [-1.62366132e-01 1.16307531e-04 9.86730574e-01 -4.34295070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68587156 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:250.74, Y:-77.03, Z:-43.44 [[ 9.30962502e-01 3.31363001e-01 1.53321169e-01 2.50739907e+02] [-3.26989293e-01 9.43503328e-01 -5.36607172e-02 -7.70321549e+01] [-1.62440209e-01 -1.78264984e-04 9.86718372e-01 -4.34365413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71587156 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:250.76, Y:-77.04, Z:-43.44 [[ 9.30505691e-01 3.32711052e-01 1.53174787e-01 2.50764720e+02] [-3.28366256e-01 9.43028724e-01 -5.35950364e-02 -7.70420623e+01] [-1.62279885e-01 -4.26945123e-04 9.86744676e-01 -4.34406953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74587156 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:250.79, Y:-77.05, Z:-43.45 [[ 9.29657339e-01 3.34866540e-01 1.53628230e-01 2.50789521e+02] [-3.30527013e-01 9.42265214e-01 -5.37416097e-02 -7.70533066e+01] [-1.62754804e-01 -8.16998303e-04 9.86666208e-01 -4.34459046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.77587156 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:250.81, Y:-77.06, Z:-43.45 [[ 9.29339954e-01 3.35713601e-01 1.53699800e-01 2.50814671e+02] [-3.31383422e-01 9.41963600e-01 -5.37550364e-02 -7.70634528e+01] [-1.62825914e-01 -9.76862553e-04 9.86654330e-01 -4.34507634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80587156 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:250.84, Y:-77.08, Z:-43.45 [[ 9.28801319e-01 3.37274054e-01 1.53539320e-01 2.50840067e+02] [-3.32976169e-01 9.41405663e-01 -5.36865677e-02 -7.70752945e+01] [-1.62649872e-01 -1.26077983e-03 9.86683044e-01 -4.34537764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83587156 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:250.87, Y:-77.09, Z:-43.46 [[ 9.28353929e-01 3.38382967e-01 1.53804909e-01 2.50866039e+02] [-3.34087260e-01 9.41007337e-01 -5.37670365e-02 -7.70851259e+01] [-1.62925397e-01 -1.46942101e-03 9.86637297e-01 -4.34604261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86587156 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:250.89, Y:-77.10, Z:-43.47 [[ 9.27532810e-01 3.40468547e-01 1.54155941e-01 2.50891159e+02] [-3.36183720e-01 9.40254082e-01 -5.38773334e-02 -7.70951872e+01] [-1.63289290e-01 -1.85172309e-03 9.86576494e-01 -4.34651367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89587156 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:250.92, Y:-77.10, Z:-43.47 [[ 9.27178791e-01 3.41309846e-01 1.54424995e-01 2.50917008e+02] [-3.37023968e-01 9.39948679e-01 -5.39567084e-02 -7.71046712e+01] [-1.63567526e-01 -2.01740895e-03 9.86530078e-01 -4.34695630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92587156 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:250.94, Y:-77.11, Z:-43.47 [[ 9.26822174e-01 3.41937232e-01 1.55175988e-01 2.50943688e+02] [-3.37620090e-01 9.39720333e-01 -5.42067381e-02 -7.71140877e+01] [-1.64357333e-01 -2.15052407e-03 9.86398521e-01 -4.34728336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95587156 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:250.97, Y:-77.12, Z:-43.48 [[ 9.26777617e-01 3.41971649e-01 1.55366147e-01 2.50969300e+02] [-3.37646407e-01 9.39707762e-01 -5.42607317e-02 -7.71230511e+01] [-1.64554406e-01 -2.17118977e-03 9.86365618e-01 -4.34788690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98587156 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:250.99, Y:-77.13, Z:-43.48 [[ 9.27130797e-01 3.41002208e-01 1.55389764e-01 2.50994318e+02] [-3.36664162e-01 9.40060343e-01 -5.42567273e-02 -7.71332930e+01] [-1.64577419e-01 -2.01108184e-03 9.86362119e-01 -4.34836532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01587156 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:251.02, Y:-77.14, Z:-43.49 [[ 9.27336619e-01 3.40462269e-01 1.55345545e-01 2.51019241e+02] [-3.36121565e-01 9.40256202e-01 -5.42270052e-02 -7.71427910e+01] [-1.64526862e-01 -1.92830013e-03 9.86370718e-01 -4.34882959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04587156 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:251.05, Y:-77.15, Z:-43.49 [[ 9.27779919e-01 3.39296612e-01 1.55248932e-01 2.51045804e+02] [-3.34947507e-01 9.40677842e-01 -5.41790131e-02 -7.71519199e+01] [-1.64421986e-01 -1.73404243e-03 9.86388566e-01 -4.34919406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07587156 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:251.07, Y:-77.16, Z:-43.50 [[ 9.27958455e-01 3.38905152e-01 1.55036781e-01 2.51070673e+02] [-3.34564637e-01 9.40819055e-01 -5.40925947e-02 -7.71610082e+01] [-1.64193817e-01 -1.67414389e-03 9.86426676e-01 -4.34976671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10587156 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:251.10, Y:-77.17, Z:-43.50 [[ 9.28011999e-01 3.38715013e-01 1.55131782e-01 2.51095483e+02] [-3.34368876e-01 9.40887560e-01 -5.41114964e-02 -7.71703170e+01] [-1.64289940e-01 -1.65512170e-03 9.86410704e-01 -4.35023246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13587156 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:251.12, Y:-77.18, Z:-43.50 [[ 9.27951846e-01 3.38931340e-01 1.55019088e-01 2.51121798e+02] [-3.34598120e-01 9.40809552e-01 -5.40507569e-02 -7.71786748e+01] [-1.64162934e-01 -1.71259580e-03 9.86431750e-01 -4.35045719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16587156 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:251.15, Y:-77.19, Z:-43.51 [[ 9.27733953e-01 3.39722656e-01 1.54590522e-01 2.51147506e+02] [-3.35426361e-01 9.40523824e-01 -5.38896369e-02 -7.71860128e+01] [-1.63703599e-01 -1.85849041e-03 9.86507819e-01 -4.35082204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19587156 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:251.17, Y:-77.20, Z:-43.52 [[ 9.27395650e-01 3.40344575e-01 1.55251018e-01 2.51173199e+02] [-3.36022214e-01 9.40298681e-01 -5.41060269e-02 -7.71950380e+01] [-1.64397020e-01 -1.99009667e-03 9.86392244e-01 -4.35153503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22587156000003 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:251.20, Y:-77.20, Z:-43.52 [[ 9.26927198e-01 3.41470957e-01 1.55574921e-01 2.51199478e+02] [-3.37148163e-01 9.39889738e-01 -5.42069786e-02 -7.72039779e+01] [-1.64733381e-01 -2.20587609e-03 9.86335667e-01 -4.35200460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25587156 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:251.23, Y:-77.21, Z:-43.52 [[ 9.26867944e-01 3.41978447e-01 1.54811356e-01 2.51225178e+02] [-3.37707211e-01 9.39704992e-01 -5.39292850e-02 -7.72118892e+01] [-1.63919658e-01 -2.29558586e-03 9.86471021e-01 -4.35247324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28587156000003 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:251.25, Y:-77.22, Z:-43.53 [[ 9.26187902e-01 3.43634256e-01 1.55214265e-01 2.51251949e+02] [-3.39365994e-01 9.39099938e-01 -5.40557960e-02 -7.72180219e+01] [-1.64337130e-01 -2.60861916e-03 9.86400782e-01 -4.35291082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31587156 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:251.28, Y:-77.23, Z:-43.53 [[ 9.25839104e-01 3.44365814e-01 1.55673182e-01 2.51278618e+02] [-3.40084246e-01 9.38831499e-01 -5.42044587e-02 -7.72250094e+01] [-1.64817050e-01 -2.75738933e-03 9.86320301e-01 -4.35341416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34587156 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:251.31, Y:-77.23, Z:-43.54 [[ 9.25368902e-01 3.45820375e-01 1.55243881e-01 2.51305675e+02] [-3.41588134e-01 9.38295816e-01 -5.40232220e-02 -7.72306263e+01] [-1.64347015e-01 -3.03805792e-03 9.86397906e-01 -4.35386358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37587156 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:251.33, Y:-77.24, Z:-43.54 [[ 9.25294656e-01 3.46087807e-01 1.55090392e-01 2.51331619e+02] [-3.41869795e-01 9.38197023e-01 -5.39572830e-02 -7.72379239e+01] [-1.64179302e-01 -3.09433508e-03 9.86425660e-01 -4.35419711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40587156 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:251.36, Y:-77.25, Z:-43.55 [[ 9.25331922e-01 3.45986149e-01 1.55094872e-01 2.51358184e+02] [-3.41768878e-01 9.38234531e-01 -5.39444050e-02 -7.72469869e+01] [-1.64179381e-01 -3.09012024e-03 9.86425660e-01 -4.35468183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43587156 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:251.39, Y:-77.25, Z:-43.55 [[ 9.25403862e-01 3.45817988e-01 1.55040677e-01 2.51385217e+02] [-3.41604413e-01 9.38296570e-01 -5.39070671e-02 -7.72511037e+01] [-1.64116169e-01 -3.07677155e-03 9.86436220e-01 -4.35525858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46587156 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:251.41, Y:-77.26, Z:-43.56 [[ 9.25603635e-01 3.45301092e-01 1.55000213e-01 2.51411020e+02] [-3.41087897e-01 9.38487115e-01 -5.38607592e-02 -7.72575557e+01] [-1.64063882e-01 -3.01498229e-03 9.86445109e-01 -4.35575606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49587156 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:251.44, Y:-77.26, Z:-43.56 [[ 9.26615304e-01 3.42559320e-01 1.55039320e-01 2.51438349e+02] [-3.38308017e-01 9.39492762e-01 -5.38612743e-02 -7.72639089e+01] [-1.64109000e-01 -2.54236359e-03 9.86438935e-01 -4.35628314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52587156 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:251.46, Y:-77.27, Z:-43.57 [[ 9.27281137e-01 3.40636486e-01 1.55294805e-01 2.51464295e+02] [-3.36349616e-01 9.40192419e-01 -5.39180093e-02 -7.72718266e+01] [-1.64373440e-01 -2.23619526e-03 9.86395647e-01 -4.35677751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55587156 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:251.49, Y:-77.28, Z:-43.57 [[ 9.28891400e-01 3.36097091e-01 1.55561924e-01 2.51490121e+02] [-3.31734184e-01 9.41826232e-01 -5.39979586e-02 -7.72774114e+01] [-1.64660858e-01 -1.44696866e-03 9.86349182e-01 -4.35723971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58587156 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:251.52, Y:-77.29, Z:-43.58 [[ 9.29851500e-01 3.33410928e-01 1.55606364e-01 2.51516852e+02] [-3.29010616e-01 9.42781089e-01 -5.39984542e-02 -7.72852242e+01] [-1.64706412e-01 -9.85602092e-04 9.86342145e-01 -4.35769360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61587156 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:251.54, Y:-77.29, Z:-43.58 [[ 9.31847635e-01 3.27417847e-01 1.56389059e-01 2.51543203e+02] [-3.22890956e-01 9.44879648e-01 -5.42575477e-02 -7.72925033e+01] [-1.65533729e-01 6.31547423e-05 9.86204127e-01 -4.35818692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64587156 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:251.57, Y:-77.30, Z:-43.59 [[ 9.32914712e-01 3.24471493e-01 1.56167824e-01 2.51570390e+02] [-3.19918573e-01 9.45895302e-01 -5.41681213e-02 -7.73013908e+01] [-1.65294422e-01 5.73249854e-04 9.86244100e-01 -4.35863931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67587156 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:251.60, Y:-77.31, Z:-43.59 [[ 9.34920247e-01 3.18922937e-01 1.55602996e-01 2.51596830e+02] [-3.14328055e-01 9.47779396e-01 -5.39637792e-02 -7.73099710e+01] [-1.64687601e-01 1.54144262e-03 9.86344574e-01 -4.35913184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70587156 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:251.62, Y:-77.32, Z:-43.60 [[ 9.35847821e-01 3.16203284e-01 1.55577440e-01 2.51622370e+02] [-3.11574336e-01 9.48689330e-01 -5.39443121e-02 -7.73190445e+01] [-1.64652026e-01 2.00972928e-03 9.86349670e-01 -4.35960492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73587156 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:251.65, Y:-77.33, Z:-43.60 [[ 9.36599765e-01 3.13949448e-01 1.55616914e-01 2.51648568e+02] [-3.09288967e-01 9.49436675e-01 -5.39475200e-02 -7.73286398e+01] [-1.64685200e-01 2.39663980e-03 9.86343267e-01 -4.36012499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76587156 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:251.68, Y:-77.34, Z:-43.60 [[ 9.38108020e-01 3.09805355e-01 1.54835347e-01 2.51676283e+02] [-3.05137177e-01 9.50794946e-01 -5.36681877e-02 -7.73378959e+01] [-1.63843357e-01 3.10053646e-03 9.86481495e-01 -4.36043681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79587156 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:251.70, Y:-77.35, Z:-43.61 [[ 9.38674112e-01 3.08067032e-01 1.54872903e-01 2.51703378e+02] [-3.03373785e-01 9.51358575e-01 -5.36768823e-02 -7.73479009e+01] [-1.63875742e-01 3.40072098e-03 9.86475127e-01 -4.36112685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82587156 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:251.73, Y:-77.36, Z:-43.61 [[ 9.39569119e-01 3.05214906e-01 1.55092655e-01 2.51731244e+02] [-3.00469981e-01 9.52275504e-01 -5.37508588e-02 -7.73607819e+01] [-1.64096500e-01 3.90195987e-03 9.86436574e-01 -4.36136592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85587156 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:251.76, Y:-77.37, Z:-43.62 [[ 9.39883343e-01 3.04139613e-01 1.55300987e-01 2.51758239e+02] [-2.99367245e-01 9.52618666e-01 -5.38231337e-02 -7.73712105e+01] [-1.64312366e-01 4.09543828e-03 9.86399855e-01 -4.36187885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88587156 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:251.78, Y:-77.38, Z:-43.63 [[ 9.40164356e-01 3.03022880e-01 1.55782278e-01 2.51784199e+02] [-2.98205759e-01 9.52973569e-01 -5.39879796e-02 -7.73821837e+01] [-1.64815986e-01 4.30240173e-03 9.86314950e-01 -4.36256249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:251.81, Y:-77.39, Z:-43.63 [[ 9.40251185e-01 3.02779405e-01 1.55731633e-01 2.51813145e+02] [-2.97963200e-01 9.53050795e-01 -5.39639967e-02 -7.73932607e+01] [-1.64759344e-01 4.33741622e-03 9.86324260e-01 -4.36310545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94587156 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:251.84, Y:-77.40, Z:-43.64 [[ 9.40117978e-01 3.03244192e-01 1.55631445e-01 2.51841053e+02] [-2.98439849e-01 9.52903372e-01 -5.39334840e-02 -7.74048311e+01] [-1.64656745e-01 4.25721298e-03 9.86341742e-01 -4.36361080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97587156000003 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:251.87, Y:-77.42, Z:-43.64 [[ 9.39662236e-01 3.04626693e-01 1.55683849e-01 2.51869791e+02] [-2.99837717e-01 9.52463352e-01 -5.39528156e-02 -7.74186536e+01] [-1.64718629e-01 4.01753346e-03 9.86332415e-01 -4.36392749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00587156 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:251.90, Y:-77.43, Z:-43.65 [[ 9.39167089e-01 3.06385169e-01 1.55220189e-01 2.51899071e+02] [-3.01643915e-01 9.51900335e-01 -5.38210085e-02 -7.74322167e+01] [-1.64244109e-01 3.72569419e-03 9.86412688e-01 -4.36459323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03587156000003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:251.93, Y:-77.44, Z:-43.65 [[ 9.38892515e-01 3.07502606e-01 1.54670596e-01 2.51927893e+02] [-3.02804569e-01 9.51540617e-01 -5.36642162e-02 -7.74436597e+01] [-1.63677241e-01 3.54996765e-03 9.86507556e-01 -4.36533656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06587156 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:251.95, Y:-77.45, Z:-43.66 [[ 9.38591200e-01 3.08720854e-01 1.54071393e-01 2.51954502e+02] [-3.04070294e-01 9.51146767e-01 -5.34890993e-02 -7.74544388e+01] [-1.63057708e-01 3.35586395e-03 9.86610826e-01 -4.36580513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:251.98, Y:-77.47, Z:-43.66 [[ 9.37974329e-01 3.10876824e-01 1.53491883e-01 2.51981402e+02] [-3.06290449e-01 9.50445577e-01 -5.32857072e-02 -7.74683784e+01] [-1.62450973e-01 2.96752761e-03 9.86712154e-01 -4.36640189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:252.01, Y:-77.48, Z:-43.67 [[ 9.37378721e-01 3.12799244e-01 1.53224563e-01 2.52008826e+02] [-3.08254122e-01 9.49815618e-01 -5.31948164e-02 -7.74832754e+01] [-1.62174382e-01 2.63158562e-03 9.86758605e-01 -4.36697797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:252.04, Y:-77.50, Z:-43.67 [[ 9.37177003e-01 3.13350741e-01 1.53331593e-01 2.52037162e+02] [-3.08805841e-01 9.49634062e-01 -5.32362794e-02 -7.74951571e+01] [-1.62290531e-01 2.54212507e-03 9.86739743e-01 -4.36725748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18587156 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:252.07, Y:-77.51, Z:-43.68 [[ 9.36811595e-01 3.14202596e-01 1.53820558e-01 2.52066168e+02] [-3.09640068e-01 9.49352918e-01 -5.34047300e-02 -7.75072780e+01] [-1.62809901e-01 2.40116223e-03 9.86654535e-01 -4.36803808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:252.09, Y:-77.52, Z:-43.69 [[ 9.36422932e-01 3.15226189e-01 1.54092644e-01 2.52094656e+02] [-3.10656282e-01 9.49013889e-01 -5.35286143e-02 -7.75219076e+01] [-1.63109680e-01 2.25557413e-03 9.86605364e-01 -4.36862309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24587156 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:252.12, Y:-77.53, Z:-43.69 [[ 9.36253559e-01 3.15848151e-01 1.53848039e-01 2.52122685e+02] [-3.11296243e-01 9.48807265e-01 -5.34735798e-02 -7.75346608e+01] [-1.62861668e-01 2.17251308e-03 9.86646521e-01 -4.36913383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.27587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:252.15, Y:-77.55, Z:-43.70 [[ 9.35957803e-01 3.16646577e-01 1.54006287e-01 2.52149258e+02] [-3.12093143e-01 9.48541372e-01 -5.35456463e-02 -7.75486652e+01] [-1.63036381e-01 2.05215924e-03 9.86617924e-01 -4.36961938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:252.18, Y:-77.56, Z:-43.70 [[ 9.35746636e-01 3.17287800e-01 1.53969754e-01 2.52178893e+02] [-3.12745405e-01 9.48327314e-01 -5.35314615e-02 -7.75616196e+01] [-1.62998603e-01 1.93855181e-03 9.86624395e-01 -4.37018678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:252.21, Y:-77.58, Z:-43.71 [[ 9.35401911e-01 3.18588131e-01 1.53378182e-01 2.52206811e+02] [-3.14092543e-01 9.47891651e-01 -5.33600344e-02 -7.75768795e+01] [-1.62385772e-01 1.73813499e-03 9.86725818e-01 -4.37074204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:252.23, Y:-77.59, Z:-43.71 [[ 9.35225786e-01 3.19074627e-01 1.53440906e-01 2.52234684e+02] [-3.14578219e-01 9.47728113e-01 -5.34038243e-02 -7.75887477e+01] [-1.62460066e-01 1.67546645e-03 9.86713697e-01 -4.37126274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:252.26, Y:-77.60, Z:-43.72 [[ 9.34752633e-01 3.20503152e-01 1.53346811e-01 2.52263437e+02] [-3.16031605e-01 9.47246377e-01 -5.33697085e-02 -7.76021534e+01] [-1.62362371e-01 1.42503680e-03 9.86730171e-01 -4.37182681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:252.29, Y:-77.61, Z:-43.72 [[ 9.34473207e-01 3.21115083e-01 1.53769073e-01 2.52291207e+02] [-3.16621992e-01 9.47039216e-01 -5.35465839e-02 -7.76141140e+01] [-1.62819959e-01 1.35117769e-03 9.86654871e-01 -4.37221654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:252.32, Y:-77.63, Z:-43.73 [[ 9.34273879e-01 3.21590216e-01 1.53987180e-01 2.52319282e+02] [-3.17090365e-01 9.46878089e-01 -5.36244864e-02 -7.76263915e+01] [-1.63052197e-01 1.27210586e-03 9.86616624e-01 -4.37288945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:252.35, Y:-77.64, Z:-43.73 [[ 9.33860885e-01 3.22678958e-01 1.54214584e-01 2.52347966e+02] [-3.18179948e-01 9.46507850e-01 -5.37067152e-02 -7.76408281e+01] [-1.63295341e-01 1.08661237e-03 9.86576632e-01 -4.37320039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:252.38, Y:-77.65, Z:-43.74 [[ 9.33479259e-01 3.23841382e-01 1.54088390e-01 2.52377564e+02] [-3.19360835e-01 9.46110951e-01 -5.36910180e-02 -7.76545367e+01] [-1.63172087e-01 9.09654754e-04 9.86597204e-01 -4.37398001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:252.41, Y:-77.67, Z:-43.75 [[ 9.33287557e-01 3.24489391e-01 1.53886228e-01 2.52408178e+02] [-3.20023858e-01 9.45888974e-01 -5.36542621e-02 -7.76668995e+01] [-1.62969525e-01 8.27590723e-04 9.86630756e-01 -4.37456051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57587156 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:252.44, Y:-77.68, Z:-43.75 [[ 9.33010060e-01 3.25259617e-01 1.53942878e-01 2.52437347e+02] [-3.20795540e-01 9.45624478e-01 -5.37081657e-02 -7.76782772e+01] [-1.63041251e-01 7.26070139e-04 9.86618986e-01 -4.37514078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:252.47, Y:-77.69, Z:-43.76 [[ 9.32467273e-01 3.26828360e-01 1.53909089e-01 2.52465842e+02] [-3.22382184e-01 9.45083589e-01 -5.37283659e-02 -7.76901547e+01] [-1.63016908e-01 4.82394642e-04 9.86623158e-01 -4.37568240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:252.49, Y:-77.70, Z:-43.76 [[ 9.31994353e-01 3.28179651e-01 1.53898155e-01 2.52494423e+02] [-3.23747517e-01 9.44615288e-01 -5.37541077e-02 -7.77034852e+01] [-1.63015555e-01 2.74379216e-04 9.86623461e-01 -4.37610277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:252.52, Y:-77.72, Z:-43.77 [[ 9.31624795e-01 3.29177234e-01 1.54005164e-01 2.52523983e+02] [-3.24751964e-01 9.44268149e-01 -5.37942756e-02 -7.77156203e+01] [-1.63130022e-01 1.02601659e-04 9.86604574e-01 -4.37678440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69587156 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:252.55, Y:-77.73, Z:-43.77 [[ 9.31426001e-01 3.29833855e-01 1.53802580e-01 2.52554538e+02] [-3.25423601e-01 9.44038997e-01 -5.37573503e-02 -7.77278482e+01] [-1.62926627e-01 2.00045437e-05 9.86638188e-01 -4.37709999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:252.58, Y:-77.74, Z:-43.78 [[ 9.31064205e-01 3.30746907e-01 1.54032238e-01 2.52583284e+02] [-3.26330143e-01 9.43719488e-01 -5.38717550e-02 -7.77405508e+01] [-1.63181141e-01 -1.07299512e-04 9.86596120e-01 -4.37792294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:252.61, Y:-77.75, Z:-43.78 [[ 9.30950014e-01 3.30949697e-01 1.54286647e-01 2.52612894e+02] [-3.26515711e-01 9.43648391e-01 -5.39926382e-02 -7.77524775e+01] [-1.63461193e-01 -1.12566939e-04 9.86549758e-01 -4.37845031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78587156000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:252.64, Y:-77.76, Z:-43.79 [[ 9.31085278e-01 3.30386905e-01 1.54676106e-01 2.52639038e+02] [-3.25917150e-01 9.43845587e-01 -5.41619629e-02 -7.77644837e+01] [-1.63884764e-01 1.78104498e-05 9.86479490e-01 -4.37896457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:252.67, Y:-77.78, Z:-43.80 [[ 9.31134491e-01 3.30380858e-01 1.54392514e-01 2.52669147e+02] [-3.25929074e-01 9.43847704e-01 -5.40532138e-02 -7.77767207e+01] [-1.63581167e-01 9.80273031e-06 9.86529879e-01 -4.37953008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:252.70, Y:-77.79, Z:-43.80 [[ 9.31469323e-01 3.29797849e-01 1.53617312e-01 2.52698010e+02] [-3.25377547e-01 9.44051565e-01 -5.38153712e-02 -7.77904138e+01] [-1.62770858e-01 1.43743108e-04 9.86663888e-01 -4.37993660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:252.73, Y:-77.80, Z:-43.81 [[ 9.31548859e-01 3.29592228e-01 1.53576325e-01 2.52727547e+02] [-3.25166381e-01 9.44123360e-01 -5.38321949e-02 -7.78028345e+01] [-1.62737669e-01 2.09461978e-04 9.86669351e-01 -4.38069454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.76, Y:-77.81, Z:-43.81 [[ 9.31572524e-01 3.29536361e-01 1.53552660e-01 2.52758037e+02] [-3.25105643e-01 9.44142851e-01 -5.38571879e-02 -7.78148858e+01] [-1.62723548e-01 2.51039929e-04 9.86671670e-01 -4.38129891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:252.79, Y:-77.83, Z:-43.82 [[ 9.31706854e-01 3.29481407e-01 1.52853986e-01 2.52787528e+02] [-3.25085048e-01 9.44162019e-01 -5.36450734e-02 -7.78271981e+01] [-1.61993982e-01 2.90937280e-04 9.86791703e-01 -4.38186452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96587156 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:252.82, Y:-77.84, Z:-43.82 [[ 9.31415738e-01 3.30172629e-01 1.53136402e-01 2.52815872e+02] [-3.25764079e-01 9.43920545e-01 -5.37751823e-02 -7.78404826e+01] [-1.62303689e-01 2.00712294e-04 9.86740833e-01 -4.38240156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.85, Y:-77.85, Z:-43.83 [[ 9.31191744e-01 3.30824572e-01 1.53091601e-01 2.52846284e+02] [-3.26422367e-01 9.43692264e-01 -5.37898643e-02 -7.78525894e+01] [-1.62266369e-01 1.16154692e-04 9.86746985e-01 -4.38289947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:252.88, Y:-77.86, Z:-43.83 [[ 9.30804097e-01 3.31817183e-01 1.53300655e-01 2.52875643e+02] [-3.27410525e-01 9.43343711e-01 -5.38979724e-02 -7.78641258e+01] [-1.62499482e-01 -2.37943948e-05 9.86708629e-01 -4.38341151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:252.91, Y:-77.88, Z:-43.84 [[ 9.29884287e-01 3.34141501e-01 1.53833257e-01 2.52905582e+02] [-3.29730167e-01 9.42522836e-01 -5.41176483e-02 -7.78766319e+01] [-1.63074310e-01 -4.00314666e-04 9.86613708e-01 -4.38396422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:252.94, Y:-77.89, Z:-43.84 [[ 9.29256392e-01 3.35736827e-01 1.54153628e-01 2.52935250e+02] [-3.31322924e-01 9.41955606e-01 -5.42656153e-02 -7.78875474e+01] [-1.63424840e-01 -6.47961017e-04 9.86555575e-01 -4.38443903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.96, Y:-77.90, Z:-43.85 [[ 9.28263338e-01 3.38202492e-01 1.54745760e-01 2.52964274e+02] [-3.33782701e-01 9.41072773e-01 -5.45081997e-02 -7.78977873e+01] [-1.64061830e-01 -1.05349431e-03 9.86449495e-01 -4.38502737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.99, Y:-77.91, Z:-43.86 [[ 9.28002805e-01 3.39065002e-01 1.54420592e-01 2.52992128e+02] [-3.34675035e-01 9.40762184e-01 -5.43979298e-02 -7.79076388e+01] [-1.63717488e-01 -1.19928566e-03 9.86506536e-01 -4.38554662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.02, Y:-77.92, Z:-43.86 [[ 9.28065768e-01 3.39370195e-01 1.53368186e-01 2.53021914e+02] [-3.35044982e-01 9.40652068e-01 -5.40235742e-02 -7.79195262e+01] [-1.62600092e-01 -1.24781116e-03 9.86691265e-01 -4.38624276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.05, Y:-77.93, Z:-43.87 [[ 9.28370341e-01 3.38758962e-01 1.52875358e-01 2.53051801e+02] [-3.34447886e-01 9.40872545e-01 -5.38838229e-02 -7.79305136e+01] [-1.62089855e-01 -1.10469719e-03 9.86775384e-01 -4.38680010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.08, Y:-77.94, Z:-43.87 [[ 9.29290240e-01 3.36321783e-01 1.52667316e-01 2.53079374e+02] [-3.31986209e-01 9.41746901e-01 -5.38324347e-02 -7.79398529e+01] [-1.61878992e-01 -6.57487192e-04 9.86810397e-01 -4.38731917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.11, Y:-77.95, Z:-43.88 [[ 9.29764944e-01 3.35030333e-01 1.52616593e-01 2.53107888e+02] [-3.30680705e-01 9.42207242e-01 -5.38124918e-02 -7.79501345e+01] [-1.61825276e-01 -4.34394017e-04 9.86819331e-01 -4.38784140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.14, Y:-77.96, Z:-43.88 [[ 9.30816999e-01 3.32002818e-01 1.52819641e-01 2.53135650e+02] [-3.27600970e-01 9.43278390e-01 -5.38839894e-02 -7.79614889e+01] [-1.62041102e-01 9.22706090e-05 9.86784005e-01 -4.38836854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.16, Y:-77.97, Z:-43.89 [[ 9.30813319e-01 3.32013417e-01 1.52819031e-01 2.53164458e+02] [-3.27611426e-01 9.43274659e-01 -5.38857213e-02 -7.79716530e+01] [-1.62041102e-01 9.22864767e-05 9.86784005e-01 -4.38889601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.20, Y:-77.98, Z:-43.89 [[ 9.31237015e-01 3.30672246e-01 1.53145314e-01 2.53195000e+02] [-3.26233217e-01 9.43745601e-01 -5.40011945e-02 -7.79832242e+01] [-1.62386912e-01 3.26822793e-04 9.86727107e-01 -4.38945204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:253.22, Y:-78.00, Z:-43.90 [[ 9.31787048e-01 3.28799125e-01 1.53831184e-01 2.53224711e+02] [-3.24288962e-01 9.44399630e-01 -5.42771475e-02 -7.79950422e+01] [-1.63124391e-01 6.88988205e-04 9.86605270e-01 -4.39001079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.25, Y:-78.01, Z:-43.91 [[ 9.32028648e-01 3.28097639e-01 1.53865328e-01 2.53253938e+02] [-3.23570684e-01 9.44643440e-01 -5.43211115e-02 -7.80059801e+01] [-1.63170502e-01 8.42522587e-04 9.86597526e-01 -4.39050029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.28, Y:-78.02, Z:-43.91 [[ 9.32308614e-01 3.27193704e-01 1.54093895e-01 2.53283196e+02] [-3.22636608e-01 9.44956732e-01 -5.44278842e-02 -7.80165252e+01] [-1.63420524e-01 1.02725382e-03 9.86555968e-01 -4.39103932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.31, Y:-78.03, Z:-43.92 [[ 9.32866904e-01 3.25641106e-01 1.54003927e-01 2.53310480e+02] [-3.21067672e-01 9.45492556e-01 -5.44001482e-02 -7.80262687e+01] [-1.63324491e-01 1.30241551e-03 9.86571546e-01 -4.39150289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.34, Y:-78.04, Z:-43.92 [[ 9.33107496e-01 3.24931074e-01 1.54046093e-01 2.53337413e+02] [-3.20345820e-01 9.45736626e-01 -5.44131391e-02 -7.80362790e+01] [-1.63367552e-01 1.42528608e-03 9.86564246e-01 -4.39195701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:-78.05, Z:-43.92 [[ 9.33577225e-01 3.23375008e-01 1.54473845e-01 2.53365661e+02] [-3.18743254e-01 9.46269366e-01 -5.45621190e-02 -7.80487835e+01] [-1.63817893e-01 1.70045574e-03 9.86489131e-01 -4.39243796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.40, Y:-78.06, Z:-43.93 [[ 9.33885689e-01 3.22600113e-01 1.54229332e-01 2.53395828e+02] [-3.17972193e-01 9.46533569e-01 -5.44783219e-02 -7.80614012e+01] [-1.63557953e-01 1.83588628e-03 9.86532020e-01 -4.39302921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.42, Y:-78.07, Z:-43.94 [[ 9.34580011e-01 3.21015212e-01 1.53327875e-01 2.53424989e+02] [-3.16415002e-01 9.47071638e-01 -5.41927972e-02 -7.80745523e+01] [-1.62609194e-01 2.13226521e-03 9.86688250e-01 -4.39357343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.45, Y:-78.09, Z:-43.94 [[ 9.34782531e-01 3.20348593e-01 1.53487453e-01 2.53453761e+02] [-3.15724520e-01 9.47296983e-01 -5.42812415e-02 -7.80858993e+01] [-1.62787120e-01 2.28140395e-03 9.86658578e-01 -4.39407938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.48, Y:-78.10, Z:-43.95 [[ 9.35214271e-01 3.18883134e-01 1.53908458e-01 2.53483427e+02] [-3.14213341e-01 9.47790623e-01 -5.44326364e-02 -7.80991325e+01] [-1.63230643e-01 2.54608750e-03 9.86584652e-01 -4.39467693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.51, Y:-78.11, Z:-43.95 [[ 9.35367325e-01 3.18487073e-01 1.53798411e-01 2.53513805e+02] [-3.13813321e-01 9.47923515e-01 -5.44261787e-02 -7.81114611e+01] [-1.63123165e-01 2.64447908e-03 9.86602169e-01 -4.39521183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71587156 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:253.54, Y:-78.13, Z:-43.96 [[ 9.35433316e-01 3.18379847e-01 1.53618957e-01 2.53544015e+02] [-3.13710323e-01 9.47959404e-01 -5.43948662e-02 -7.81255409e+01] [-1.62942764e-01 2.69091773e-03 9.86631854e-01 -4.39563107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.57, Y:-78.14, Z:-43.96 [[ 9.35121729e-01 3.19194409e-01 1.53825489e-01 2.53573155e+02] [-3.14517819e-01 9.47685736e-01 -5.45003430e-02 -7.81375712e+01] [-1.63174426e-01 2.58359788e-03 9.86593853e-01 -4.39627408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.77587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.60, Y:-78.15, Z:-43.97 [[ 9.34641913e-01 3.20394985e-01 1.54245092e-01 2.53603833e+02] [-3.15703891e-01 9.47280976e-01 -5.46791197e-02 -7.81495076e+01] [-1.63632357e-01 2.40962131e-03 9.86518447e-01 -4.39679479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.63, Y:-78.16, Z:-43.97 [[ 9.33678441e-01 3.23260709e-01 1.54100888e-01 2.53633442e+02] [-3.18611802e-01 9.46307964e-01 -5.46603791e-02 -7.81610870e+01] [-1.63496450e-01 1.93685604e-03 9.86542021e-01 -4.39736167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.66, Y:-78.17, Z:-43.98 [[ 9.32766416e-01 3.26202336e-01 1.53423759e-01 2.53663519e+02] [-3.21630710e-01 9.45298884e-01 -5.44399363e-02 -7.81710170e+01] [-1.62789742e-01 1.43395179e-03 9.86659741e-01 -4.39796240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.69, Y:-78.18, Z:-43.98 [[ 9.32482874e-01 3.27263496e-01 1.52886537e-01 2.53694074e+02] [-3.22735111e-01 9.44932279e-01 -5.42681947e-02 -7.81823200e+01] [-1.62227423e-01 1.26230856e-03 9.86752588e-01 -4.39849519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.72, Y:-78.19, Z:-43.99 [[ 9.32263752e-01 3.27939087e-01 1.52775171e-01 2.53723502e+02] [-3.23421107e-01 9.44698140e-01 -5.42605904e-02 -7.81937410e+01] [-1.62120588e-01 1.17446679e-03 9.86770255e-01 -4.39911609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.75, Y:-78.21, Z:-44.00 [[ 9.32239068e-01 3.28283676e-01 1.52184585e-01 2.53753876e+02] [-3.23802277e-01 9.44578507e-01 -5.40696769e-02 -7.82063905e+01] [-1.61500480e-01 1.12815006e-03 9.86871989e-01 -4.39970617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.78, Y:-78.22, Z:-44.00 [[ 9.32391536e-01 3.27772627e-01 1.52351991e-01 2.53784479e+02] [-3.23269441e-01 9.44755814e-01 -5.41601310e-02 -7.82183676e+01] [-1.61687638e-01 1.24770468e-03 9.86841199e-01 -4.40024134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:253.82, Y:-78.23, Z:-44.01 [[ 9.32526705e-01 3.27347604e-01 1.52438479e-01 2.53815431e+02] [-3.22828558e-01 9.44903021e-01 -5.42218005e-02 -7.82296383e+01] [-1.61788956e-01 1.35178255e-03 9.86824456e-01 -4.40065721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.85, Y:-78.24, Z:-44.01 [[ 9.32527313e-01 3.27183240e-01 1.52787230e-01 2.53845693e+02] [-3.22636027e-01 9.44959856e-01 -5.43770580e-02 -7.82410841e+01] [-1.62169061e-01 1.41342677e-03 9.86761976e-01 -4.40139449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.87, Y:-78.25, Z:-44.02 [[ 9.32900040e-01 3.26196640e-01 1.52621323e-01 2.53874474e+02] [-3.21641165e-01 9.45300561e-01 -5.43489679e-02 -7.82542776e+01] [-1.62001473e-01 1.61285412e-03 9.86789198e-01 -4.40195702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.90, Y:-78.27, Z:-44.02 [[ 9.33182657e-01 3.25325873e-01 1.52752103e-01 2.53904421e+02] [-3.20746209e-01 9.45600265e-01 -5.44243373e-02 -7.82672338e+01] [-1.62148074e-01 1.79318957e-03 9.86764808e-01 -4.40247846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.93, Y:-78.28, Z:-44.03 [[ 9.33737677e-01 3.23506468e-01 1.53223740e-01 2.53934052e+02] [-3.18868883e-01 9.46223527e-01 -5.46230042e-02 -7.82815710e+01] [-1.62654803e-01 2.14527410e-03 9.86680705e-01 -4.40300036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.96, Y:-78.29, Z:-44.04 [[ 9.34018104e-01 3.22870913e-01 1.52854686e-01 2.53963538e+02] [-3.18241683e-01 9.46440257e-01 -5.45258817e-02 -7.82937516e+01] [-1.62272649e-01 2.28342812e-03 9.86743317e-01 -4.40356762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.99, Y:-78.31, Z:-44.04 [[ 9.34483551e-01 3.21951650e-01 1.51946134e-01 2.53992674e+02] [-3.17360406e-01 9.46752919e-01 -5.42335965e-02 -7.83076576e+01] [-1.61316042e-01 2.45871696e-03 9.86899736e-01 -4.40412425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:254.02, Y:-78.32, Z:-44.05 [[ 9.34611798e-01 3.21611592e-01 1.51877487e-01 2.54022991e+02] [-3.17015191e-01 9.46868263e-01 -5.42389259e-02 -7.83202038e+01] [-1.61251840e-01 2.54486935e-03 9.86910010e-01 -4.40450267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.05, Y:-78.33, Z:-44.05 [[ 9.34018935e-01 3.22781868e-01 1.53037560e-01 2.54051602e+02] [-3.18125070e-01 9.46470365e-01 -5.46835255e-02 -7.83347499e+01] [-1.62496366e-01 2.39036358e-03 9.86706247e-01 -4.40515963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:254.08, Y:-78.35, Z:-44.06 [[ 9.33693985e-01 3.23465701e-01 1.53575659e-01 2.54082489e+02] [-3.18780393e-01 9.46237084e-01 -5.49039280e-02 -7.83474422e+01] [-1.63078522e-01 2.30655823e-03 9.86610397e-01 -4.40551687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.11, Y:-78.36, Z:-44.06 [[ 9.33168907e-01 3.24893114e-01 1.53753877e-01 2.54111815e+02] [-3.20211167e-01 9.45748436e-01 -5.49973106e-02 -7.83601114e+01] [-1.63280737e-01 2.08807175e-03 9.86577438e-01 -4.40616551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:-78.37, Z:-44.07 [[ 9.32134820e-01 3.27792322e-01 1.53872904e-01 2.54140975e+02] [-3.23137314e-01 9.44748432e-01 -5.50697369e-02 -7.83734160e+01] [-1.63422621e-01 1.61034260e-03 9.86554841e-01 -4.40673692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:254.17, Y:-78.39, Z:-44.07 [[ 9.31558530e-01 3.29407308e-01 1.53914037e-01 2.54170681e+02] [-3.24767061e-01 9.44186947e-01 -5.51122904e-02 -7.83851889e+01] [-1.63478016e-01 1.35411488e-03 9.86546048e-01 -4.40730707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:-78.40, Z:-44.08 [[ 9.30517647e-01 3.32599513e-01 1.53344295e-01 2.54200340e+02] [-3.28031993e-01 9.43067810e-01 -5.49373944e-02 -7.83984973e+01] [-1.62886219e-01 8.18380095e-04 9.86644520e-01 -4.40787037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.23, Y:-78.41, Z:-44.08 [[ 9.29909277e-01 3.34499507e-01 1.52901327e-01 2.54229808e+02] [-3.29978550e-01 9.42395784e-01 -5.48118899e-02 -7.84101311e+01] [-1.62428116e-01 5.15926913e-04 9.86720245e-01 -4.40840377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:-78.42, Z:-44.09 [[ 9.28492280e-01 3.38673745e-01 1.52322622e-01 2.54258011e+02] [-3.34237595e-01 9.40903853e-01 -5.46366959e-02 -7.84213699e+01] [-1.61824956e-01 -1.82196540e-04 9.86819462e-01 -4.40893087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:254.29, Y:-78.43, Z:-44.09 [[ 9.27847278e-01 3.40615236e-01 1.51923302e-01 2.54286462e+02] [-3.36228302e-01 9.40202633e-01 -5.44934635e-02 -7.84311986e+01] [-1.61399992e-01 -5.19302034e-04 9.86888936e-01 -4.40930570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:-78.44, Z:-44.10 [[ 9.26133376e-01 3.45416849e-01 1.51539338e-01 2.54313759e+02] [-3.41115900e-01 9.38448386e-01 -5.43559445e-02 -7.84421417e+01] [-1.60987306e-01 -1.35162320e-03 9.86955551e-01 -4.40994276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.34, Y:-78.45, Z:-44.10 [[ 9.25450726e-01 3.47325261e-01 1.51347670e-01 2.54340392e+02] [-3.43061137e-01 9.37743209e-01 -5.42837986e-02 -7.84507689e+01] [-1.60779385e-01 -1.68452298e-03 9.86988932e-01 -4.41045015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.37, Y:-78.46, Z:-44.11 [[ 9.24213951e-01 3.50860440e-01 1.50749874e-01 2.54371680e+02] [-3.46678338e-01 9.36424939e-01 -5.40598113e-02 -7.84605492e+01] [-1.60133391e-01 -2.29888404e-03 9.87092707e-01 -4.41104423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:-78.47, Z:-44.12 [[ 9.23685254e-01 3.52236762e-01 1.50780688e-01 2.54402003e+02] [-3.48066003e-01 9.35907567e-01 -5.41025258e-02 -7.84710311e+01] [-1.60173685e-01 -2.50792626e-03 9.87085660e-01 -4.41166205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:-78.48, Z:-44.12 [[ 9.23233523e-01 3.53356547e-01 1.50927177e-01 2.54432073e+02] [-3.49187318e-01 9.35484899e-01 -5.41869025e-02 -7.84815149e+01] [-1.60337392e-01 -2.67469123e-03 9.87058644e-01 -4.41226299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:-78.49, Z:-44.13 [[ 9.22707372e-01 3.54535017e-01 1.51380408e-01 2.54462867e+02] [-3.50351478e-01 9.35038363e-01 -5.43792379e-02 -7.84914077e+01] [-1.60825833e-01 -2.86022580e-03 9.86978658e-01 -4.41274459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.49, Y:-78.50, Z:-44.13 [[ 9.22710659e-01 3.54488080e-01 1.51470266e-01 2.54494393e+02] [-3.50293789e-01 9.35056269e-01 -5.44429572e-02 -7.85000727e+01] [-1.60932601e-01 -2.82399632e-03 9.86961358e-01 -4.41330115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:-78.51, Z:-44.14 [[ 9.22800619e-01 3.54258169e-01 1.51460120e-01 2.54524310e+02] [-3.50056091e-01 9.35143609e-01 -5.44716724e-02 -7.85098976e+01] [-1.60933998e-01 -2.75304445e-03 9.86961331e-01 -4.41387552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.56, Y:-78.52, Z:-44.14 [[ 9.22963776e-01 3.53748035e-01 1.51658152e-01 2.54555471e+02] [-3.49523157e-01 9.35337031e-01 -5.45728942e-02 -7.85205156e+01] [-1.61156540e-01 -2.63923160e-03 9.86925329e-01 -4.41446358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.59, Y:-78.53, Z:-44.15 [[ 9.23360042e-01 3.52450981e-01 1.52264699e-01 2.54585156e+02] [-3.48169210e-01 9.35827219e-01 -5.48235114e-02 -7.85301441e+01] [-1.61816050e-01 -2.39204017e-03 9.86818040e-01 -4.41497261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79587156 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:254.62, Y:-78.54, Z:-44.15 [[ 9.23593710e-01 3.51704289e-01 1.52573760e-01 2.54616303e+02] [-3.47389963e-01 9.36108480e-01 -5.49647772e-02 -7.85400429e+01] [-1.62156938e-01 -2.23747023e-03 9.86762444e-01 -4.41543459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.65, Y:-78.55, Z:-44.16 [[ 9.23598458e-01 3.51572396e-01 1.52848744e-01 2.54646311e+02] [-3.47235041e-01 9.36158144e-01 -5.50976949e-02 -7.85480381e+01] [-1.62461425e-01 -2.18629399e-03 9.86712474e-01 -4.41609426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.68, Y:-78.56, Z:-44.17 [[ 9.23635212e-01 3.51451239e-01 1.52905271e-01 2.54677434e+02] [-3.47103850e-01 9.36203751e-01 -5.51493751e-02 -7.85577570e+01] [-1.62532804e-01 -2.13610336e-03 9.86700828e-01 -4.41668949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.71, Y:-78.57, Z:-44.17 [[ 9.24046624e-01 3.50539406e-01 1.52512171e-01 2.54708202e+02] [-3.46196810e-01 9.36545975e-01 -5.50400370e-02 -7.85653571e+01] [-1.62128362e-01 -1.93966697e-03 9.86767770e-01 -4.41726995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.74, Y:-78.57, Z:-44.18 [[ 9.24342920e-01 3.49817764e-01 1.52373550e-01 2.54738923e+02] [-3.45468428e-01 9.36816072e-01 -5.50201054e-02 -7.85748684e+01] [-1.61993000e-01 -1.78280576e-03 9.86790297e-01 -4.41781868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.77, Y:-78.58, Z:-44.18 [[ 9.25111637e-01 3.47581195e-01 1.52825956e-01 2.54770670e+02] [-3.43170080e-01 9.37648896e-01 -5.52163322e-02 -7.85838686e+01] [-1.62489248e-01 -1.36402415e-03 9.86709372e-01 -4.41835299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97587156000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:254.80, Y:-78.59, Z:-44.19 [[ 9.25691352e-01 3.45904895e-01 1.53118661e-01 2.54801046e+02] [-3.41448288e-01 9.38269004e-01 -5.53565041e-02 -7.85936339e+01] [-1.62814579e-01 -1.03906754e-03 9.86656137e-01 -4.41879555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:254.83, Y:-78.60, Z:-44.19 [[ 9.27349745e-01 3.41525384e-01 1.52914561e-01 2.54831359e+02] [-3.37016228e-01 9.39872521e-01 -5.53146187e-02 -7.86037913e+01] [-1.62611540e-01 -2.38691136e-04 9.86690139e-01 -4.41940350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.86, Y:-78.62, Z:-44.20 [[ 9.28281984e-01 3.39049494e-01 1.52767790e-01 2.54861370e+02] [-3.34510101e-01 9.40768510e-01 -5.52956021e-02 -7.86151209e+01] [-1.62467072e-01 2.27542305e-04 9.86713940e-01 -4.42004531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.89, Y:-78.63, Z:-44.21 [[ 9.30193770e-01 3.33735967e-01 1.52839313e-01 2.54890126e+02] [-3.29115132e-01 9.42665841e-01 -5.53565079e-02 -7.86274249e+01] [-1.62550857e-01 1.19054823e-03 9.86699448e-01 -4.42059074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:254.92, Y:-78.64, Z:-44.21 [[ 9.31061583e-01 3.31214242e-01 1.53040698e-01 2.54919960e+02] [-3.26541864e-01 9.43554108e-01 -5.54621998e-02 -7.86390488e+01] [-1.62772049e-01 1.66452883e-03 9.86662297e-01 -4.42109196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:-78.65, Z:-44.22 [[ 9.32443267e-01 3.27339711e-01 1.52964920e-01 2.54949538e+02] [-3.22614971e-01 9.44903750e-01 -5.54660643e-02 -7.86515851e+01] [-1.62693372e-01 2.37018495e-03 9.86673831e-01 -4.42170638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:-78.66, Z:-44.22 [[ 9.32801609e-01 3.26338444e-01 1.52919514e-01 2.54979712e+02] [-3.21597776e-01 9.45249484e-01 -5.54822772e-02 -7.86639649e+01] [-1.62653091e-01 2.57538204e-03 9.86679958e-01 -4.42227935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.01, Y:-78.68, Z:-44.23 [[ 9.33095407e-01 3.25499117e-01 1.52915946e-01 2.55007871e+02] [-3.20742039e-01 9.45538336e-01 -5.55139632e-02 -7.86773465e+01] [-1.62657635e-01 2.75325168e-03 9.86678728e-01 -4.42283161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:-78.69, Z:-44.23 [[ 9.33069031e-01 3.25579478e-01 1.52905813e-01 2.55038859e+02] [-3.20818901e-01 9.45510621e-01 -5.55418609e-02 -7.86887344e+01] [-1.62657360e-01 2.76931544e-03 9.86678729e-01 -4.42340181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.07, Y:-78.70, Z:-44.24 [[ 9.32981645e-01 3.25812561e-01 1.52942554e-01 2.55069371e+02] [-3.21050584e-01 9.45430408e-01 -5.55685812e-02 -7.87013667e+01] [-1.62701483e-01 2.74216995e-03 9.86671530e-01 -4.42397496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:-78.71, Z:-44.24 [[ 9.32509811e-01 3.27198174e-01 1.52862055e-01 2.55098630e+02] [-3.22454230e-01 9.44952353e-01 -5.55726600e-02 -7.87148284e+01] [-1.62630632e-01 2.53103428e-03 9.86683775e-01 -4.42448436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:-78.73, Z:-44.25 [[ 9.32049105e-01 3.28476277e-01 1.52930710e-01 2.55128388e+02] [-3.23740018e-01 9.44509325e-01 -5.56285428e-02 -7.87272321e+01] [-1.62717138e-01 2.33874259e-03 9.86669987e-01 -4.42504556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:-78.74, Z:-44.26 [[ 9.31547599e-01 3.29804098e-01 1.53128469e-01 2.55158114e+02] [-3.25067639e-01 9.44046962e-01 -5.57347610e-02 -7.87389050e+01] [-1.62942019e-01 2.14247291e-03 9.86633320e-01 -4.42560130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.19, Y:-78.75, Z:-44.26 [[ 9.30316667e-01 3.33157357e-01 1.53352778e-01 2.55188716e+02] [-3.28448703e-01 9.42869921e-01 -5.58369289e-02 -7.87510510e+01] [-1.63194206e-01 1.57750443e-03 9.86592704e-01 -4.42609943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.22, Y:-78.76, Z:-44.27 [[ 9.28846139e-01 3.37199565e-01 1.53431753e-01 2.55217280e+02] [-3.32535019e-01 9.41432760e-01 -5.59000917e-02 -7.87638018e+01] [-1.63295165e-01 9.01153453e-04 9.86576848e-01 -4.42660737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:-78.78, Z:-44.27 [[ 9.27982180e-01 3.39571634e-01 1.53428092e-01 2.55247443e+02] [-3.34934190e-01 9.40580055e-01 -5.59307370e-02 -7.87763572e+01] [-1.63303895e-01 5.14413587e-04 9.86575681e-01 -4.42717251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.28, Y:-78.79, Z:-44.28 [[ 9.27142009e-01 3.41866853e-01 1.53410397e-01 2.55276599e+02] [-3.37256000e-01 9.39748389e-01 -5.59585200e-02 -7.87880615e+01] [-1.63297537e-01 1.42917736e-04 9.86576857e-01 -4.42775870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.31, Y:-78.80, Z:-44.28 [[ 9.25439171e-01 3.46643171e-01 1.52973371e-01 2.55307226e+02] [-3.42118203e-01 9.37996838e-01 -5.58307071e-02 -7.87996675e+01] [-1.62841872e-01 -6.67051531e-04 9.86651955e-01 -4.42832929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.34, Y:-78.81, Z:-44.29 [[ 9.24480185e-01 3.49240458e-01 1.52864287e-01 2.55336887e+02] [-3.44751660e-01 9.37032503e-01 -5.58245625e-02 -7.88101124e+01] [-1.62735002e-01 -1.09151505e-03 9.86669209e-01 -4.42886977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.37, Y:-78.82, Z:-44.29 [[ 9.22769577e-01 3.53673436e-01 1.53007867e-01 2.55367820e+02] [-3.49231405e-01 9.35367146e-01 -5.59082136e-02 -7.88206436e+01] [-1.62891782e-01 -1.84475381e-03 9.86642217e-01 -4.42948587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.40, Y:-78.83, Z:-44.30 [[ 9.21992917e-01 3.55740433e-01 1.52898022e-01 2.55397778e+02] [-3.51327456e-01 9.34582264e-01 -5.59017891e-02 -7.88312179e+01] [-1.62782306e-01 -2.17621954e-03 9.86659609e-01 -4.43001979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.43, Y:-78.84, Z:-44.31 [[ 9.21292005e-01 3.57622980e-01 1.52731288e-01 2.55428416e+02] [-3.53240233e-01 9.33862769e-01 -5.58718762e-02 -7.88420564e+01] [-1.62611130e-01 -2.47652293e-03 9.86687127e-01 -4.43060406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.46, Y:-78.85, Z:-44.31 [[ 9.20439990e-01 3.59917481e-01 1.52478300e-01 2.55459009e+02] [-3.55575078e-01 9.32979802e-01 -5.58126532e-02 -7.88515710e+01] [-1.62347123e-01 -2.84528534e-03 9.86729606e-01 -4.43115214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.49, Y:-78.86, Z:-44.32 [[ 9.20098331e-01 3.60900336e-01 1.52216981e-01 2.55489422e+02] [-3.56581192e-01 9.32599615e-01 -5.57477501e-02 -7.88605618e+01] [-1.62076879e-01 -2.98430064e-03 9.86773621e-01 -4.43171001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.52, Y:-78.87, Z:-44.32 [[ 9.19984630e-01 3.61120715e-01 1.52381464e-01 2.55519942e+02] [-3.56790153e-01 9.32514259e-01 -5.58385466e-02 -7.88709625e+01] [-1.62262344e-01 -2.99760115e-03 9.86743100e-01 -4.43224518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:-78.88, Z:-44.33 [[ 9.20129316e-01 3.60681183e-01 1.52548765e-01 2.55550370e+02] [-3.56329691e-01 9.32684683e-01 -5.59324051e-02 -7.88810796e+01] [-1.62453662e-01 -2.89260866e-03 9.86711934e-01 -4.43280683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.58, Y:-78.89, Z:-44.33 [[ 9.20890029e-01 3.58792546e-01 1.52412147e-01 2.55580547e+02] [-3.54417846e-01 9.33413910e-01 -5.59147836e-02 -7.88900097e+01] [-1.62325426e-01 -2.52621827e-03 9.86734044e-01 -4.43339244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.61, Y:-78.90, Z:-44.34 [[ 9.21361435e-01 3.57642062e-01 1.52267074e-01 2.55610847e+02] [-3.53255195e-01 9.33855930e-01 -5.58915743e-02 -7.89009738e+01] [-1.62184688e-01 -2.29279387e-03 9.86757757e-01 -4.43398353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.64, Y:-78.91, Z:-44.35 [[ 9.22610354e-01 3.54390245e-01 1.52307875e-01 2.55641549e+02] [-3.49951490e-01 9.35096091e-01 -5.59397494e-02 -7.89108540e+01] [-1.62247000e-01 -1.68977587e-03 9.86748730e-01 -4.43451400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.67, Y:-78.92, Z:-44.35 [[ 9.23109312e-01 3.53103048e-01 1.52274214e-01 2.55671727e+02] [-3.48643407e-01 9.35583341e-01 -5.59605789e-02 -7.89216706e+01] [-1.62225069e-01 -1.43166954e-03 9.86752744e-01 -4.43504975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.70, Y:-78.93, Z:-44.36 [[ 9.24268302e-01 3.49991198e-01 1.52427907e-01 2.55702502e+02] [-3.45475319e-01 9.36752597e-01 -5.60479813e-02 -7.89323896e+01] [-1.62403538e-01 -8.56707332e-04 9.86724053e-01 -4.43560599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.73, Y:-78.94, Z:-44.36 [[ 9.24813211e-01 3.48574667e-01 1.52368716e-01 2.55733300e+02] [-3.44038027e-01 9.37280837e-01 -5.60577265e-02 -7.89436396e+01] [-1.62352581e-01 -5.77706216e-04 9.86732641e-01 -4.43618170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.76, Y:-78.95, Z:-44.37 [[ 9.25246043e-01 3.47492234e-01 1.52213361e-01 2.55762362e+02] [-3.42944860e-01 9.37682793e-01 -5.60339399e-02 -7.89546544e+01] [-1.62199209e-01 -3.55608673e-04 9.86757969e-01 -4.43674599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.79, Y:-78.97, Z:-44.37 [[ 9.26041380e-01 3.45403890e-01 1.52129928e-01 2.55792888e+02] [-3.40828425e-01 9.38454129e-01 -5.60342147e-02 -7.89660016e+01] [-1.62121395e-01 3.97978317e-05 9.86770820e-01 -4.43731428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.82, Y:-78.98, Z:-44.38 [[ 9.26240615e-01 3.44820076e-01 1.52241381e-01 2.55822866e+02] [-3.40224866e-01 9.38668784e-01 -5.61066369e-02 -7.89772734e+01] [-1.62250926e-01 1.71942465e-04 9.86749516e-01 -4.43787328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.85, Y:-78.99, Z:-44.38 [[ 9.26600071e-01 3.43714740e-01 1.52553222e-01 2.55852929e+02] [-3.39080190e-01 9.39074022e-01 -5.62548302e-02 -7.89893085e+01] [-1.62594382e-01 3.97954145e-04 9.86692915e-01 -4.43838038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:-79.00, Z:-44.39 [[ 9.26641319e-01 3.43523225e-01 1.52733953e-01 2.55883341e+02] [-3.38869488e-01 9.39144067e-01 -5.63550458e-02 -7.90007168e+01] [-1.62798453e-01 4.64037442e-04 9.86659236e-01 -4.43893610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.91, Y:-79.01, Z:-44.39 [[ 9.26566507e-01 3.43781706e-01 1.52606182e-01 2.55912758e+02] [-3.39133717e-01 9.39049485e-01 -5.63416897e-02 -7.90111923e+01] [-1.62673999e-01 4.50420830e-04 9.86679769e-01 -4.43942245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:255.94, Y:-79.02, Z:-44.40 [[ 9.26459074e-01 3.44062674e-01 1.52625231e-01 2.55941876e+02] [-3.39411926e-01 9.38946585e-01 -5.63813377e-02 -7.90213560e+01] [-1.62705653e-01 4.32178451e-04 9.86674558e-01 -4.43978966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.97, Y:-79.03, Z:-44.40 [[ 9.25666643e-01 3.46167770e-01 1.52673314e-01 2.55970949e+02] [-3.41541847e-01 9.38172623e-01 -5.64029832e-02 -7.90324513e+01] [-1.62758818e-01 6.60346218e-05 9.86665882e-01 -4.44045731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:256.00, Y:-79.04, Z:-44.41 [[ 9.25204600e-01 3.47561336e-01 1.52307468e-01 2.55998676e+02] [-3.42975770e-01 9.37657233e-01 -5.62719675e-02 -7.90419061e+01] [-1.62370160e-01 -1.74688034e-04 9.86729903e-01 -4.44074640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:-79.05, Z:-44.41 [[ 9.23717687e-01 3.51292782e-01 1.52771123e-01 2.56029955e+02] [-3.46730263e-01 9.36265284e-01 -5.64397232e-02 -7.90517345e+01] [-1.62861166e-01 -8.36001197e-04 9.86648641e-01 -4.44144423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:-79.06, Z:-44.42 [[ 9.22984407e-01 3.53113015e-01 1.53006480e-01 2.56060696e+02] [-3.48555507e-01 9.35579996e-01 -5.65608413e-02 -7.90614647e+01] [-1.63122171e-01 -1.12647668e-03 9.86605234e-01 -4.44202075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.09, Y:-79.07, Z:-44.43 [[ 9.21641320e-01 3.56486498e-01 1.53279661e-01 2.56091279e+02] [-3.51953016e-01 9.34298941e-01 -5.66971227e-02 -7.90700327e+01] [-1.63420783e-01 -1.69282787e-03 9.86555007e-01 -4.44256769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.12, Y:-79.08, Z:-44.43 [[ 9.21175021e-01 3.57697111e-01 1.53262384e-01 2.56120742e+02] [-3.53177679e-01 9.33835755e-01 -5.67125182e-02 -7.90791914e+01] [-1.63407798e-01 -1.88669793e-03 9.86556806e-01 -4.44309196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.15, Y:-79.09, Z:-44.44 [[ 9.20549980e-01 3.59211658e-01 1.53475464e-01 2.56149865e+02] [-3.54697695e-01 9.33253660e-01 -5.68080319e-02 -7.90856350e+01] [-1.63637646e-01 -2.14276067e-03 9.86518185e-01 -4.44355277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.18, Y:-79.10, Z:-44.44 [[ 9.20224945e-01 3.60020668e-01 1.53529050e-01 2.56180300e+02] [-3.55515244e-01 9.32941516e-01 -5.68246344e-02 -7.90951080e+01] [-1.63691668e-01 -2.29047172e-03 9.86508891e-01 -4.44409378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.21, Y:-79.10, Z:-44.44 [[ 9.20309022e-01 3.59902131e-01 1.53302841e-01 2.56209538e+02] [-3.55403431e-01 9.32987379e-01 -5.67710430e-02 -7.91013525e+01] [-1.63461635e-01 -2.23745255e-03 9.86547154e-01 -4.44447773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.24, Y:-79.11, Z:-44.45 [[ 9.20360089e-01 3.59813199e-01 1.53204986e-01 2.56240518e+02] [-3.55319642e-01 9.33021713e-01 -5.67312508e-02 -7.91108700e+01] [-1.63356232e-01 -2.22356182e-03 9.86564644e-01 -4.44516793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.27, Y:-79.12, Z:-44.46 [[ 9.20698455e-01 3.59221579e-01 1.52558879e-01 2.56271124e+02] [-3.54752423e-01 9.33249989e-01 -5.65258875e-02 -7.91197261e+01] [-1.62680891e-01 -2.07733480e-03 9.86676549e-01 -4.44572248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.30, Y:-79.13, Z:-44.46 [[ 9.21847714e-01 3.56503674e-01 1.51993165e-01 2.56299454e+02] [-3.52025616e-01 9.34292619e-01 -5.63495190e-02 -7.91268189e+01] [-1.62094903e-01 -1.55981225e-03 9.86773940e-01 -4.44634696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.33, Y:-79.14, Z:-44.47 [[ 9.22481282e-01 3.55057362e-01 1.51534001e-01 2.56330496e+02] [-3.50587741e-01 9.34843605e-01 -5.61753516e-02 -7.91375873e+01] [-1.61606064e-01 -1.30525285e-03 9.86854486e-01 -4.44690063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.36, Y:-79.15, Z:-44.48 [[ 9.24055554e-01 3.50913321e-01 1.51595432e-01 2.56361098e+02] [-3.46378984e-01 9.36407786e-01 -5.62321799e-02 -7.91456885e+01] [-1.61687764e-01 -5.47813563e-04 9.86841815e-01 -4.44751533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.39, Y:-79.16, Z:-44.48 [[ 9.24857584e-01 3.48757147e-01 1.51680260e-01 2.56391225e+02] [-3.44183636e-01 9.37213120e-01 -5.62955775e-02 -7.91554881e+01] [-1.61790215e-01 -1.40471526e-04 9.86825165e-01 -4.44804632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.42, Y:-79.16, Z:-44.49 [[ 9.26527380e-01 3.44196299e-01 1.51907608e-01 2.56421653e+02] [-3.39543182e-01 9.38897459e-01 -5.64091288e-02 -7.91648147e+01] [-1.62041480e-01 6.85409839e-04 9.86783709e-01 -4.44856901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.45, Y:-79.18, Z:-44.49 [[ 9.27262870e-01 3.42296540e-01 1.51712387e-01 2.56452474e+02] [-3.37625106e-01 9.39591393e-01 -5.63675669e-02 -7.91751682e+01] [-1.61842076e-01 1.04564129e-03 9.86816117e-01 -4.44906261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.48, Y:-79.18, Z:-44.50 [[ 9.28434232e-01 3.39212844e-01 1.51474498e-01 2.56482875e+02] [-3.34509725e-01 9.40708266e-01 -5.63134217e-02 -7.91844463e+01] [-1.61595548e-01 1.61361584e-03 9.86855752e-01 -4.44966274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.51, Y:-79.20, Z:-44.50 [[ 9.28664167e-01 3.38651983e-01 1.51319860e-01 2.56512801e+02] [-3.33945900e-01 9.40910095e-01 -5.62879055e-02 -7.91952222e+01] [-1.61440394e-01 1.73991411e-03 9.86880931e-01 -4.45019674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.54, Y:-79.21, Z:-44.51 [[ 9.28882412e-01 3.38142335e-01 1.51119904e-01 2.56543073e+02] [-3.33437063e-01 9.41093151e-01 -5.62441611e-02 -7.92061362e+01] [-1.61236438e-01 1.85523530e-03 9.86914064e-01 -4.45073452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.57, Y:-79.22, Z:-44.51 [[ 9.29026259e-01 3.37499242e-01 1.51672255e-01 2.56573781e+02] [-3.32745384e-01 9.41323664e-01 -5.64824690e-02 -7.92169658e+01] [-1.61835473e-01 2.00545416e-03 9.86815716e-01 -4.45130637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:-79.23, Z:-44.52 [[ 9.29102413e-01 3.37143041e-01 1.51997617e-01 2.56603982e+02] [-3.32358485e-01 9.41451085e-01 -5.66364884e-02 -7.92280440e+01] [-1.62192919e-01 2.10340045e-03 9.86756825e-01 -4.45185107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:-79.24, Z:-44.52 [[ 9.29146564e-01 3.36847428e-01 1.52382653e-01 2.56634117e+02] [-3.32028967e-01 9.41556692e-01 -5.68133947e-02 -7.92380490e+01] [-1.62614352e-01 2.19251567e-03 9.86687268e-01 -4.45233054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.67, Y:-79.25, Z:-44.53 [[ 9.29134775e-01 3.36938644e-01 1.52252815e-01 2.56665047e+02] [-3.32124604e-01 9.41524027e-01 -5.67957295e-02 -7.92493906e+01] [-1.62486360e-01 2.20398131e-03 9.86708328e-01 -4.45289232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:-79.26, Z:-44.53 [[ 9.28963192e-01 3.37520056e-01 1.52011843e-01 2.56694372e+02] [-3.32723461e-01 9.41315924e-01 -5.67400201e-02 -7.92608982e+01] [-1.62242063e-01 2.13148376e-03 9.86748686e-01 -4.45343520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:256.72, Y:-79.27, Z:-44.54 [[ 9.28846038e-01 3.38116473e-01 1.51401081e-01 2.56724300e+02] [-3.33361300e-01 9.41102041e-01 -5.65437205e-02 -7.92720078e+01] [-1.61602230e-01 2.04914955e-03 9.86853849e-01 -4.45372278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.75, Y:-79.28, Z:-44.54 [[ 9.28523904e-01 3.39048474e-01 1.51292734e-01 2.56752282e+02] [-3.34307669e-01 9.40766959e-01 -5.65323898e-02 -7.92830350e+01] [-1.61498426e-01 1.91335398e-03 9.86871115e-01 -4.45449861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.78, Y:-79.29, Z:-44.55 [[ 9.27754948e-01 3.41322953e-01 1.50895323e-01 2.56782600e+02] [-3.36634642e-01 9.39944843e-01 -5.63986659e-02 -7.92942557e+01] [-1.61083440e-01 1.52754834e-03 9.86939609e-01 -4.45505835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.81, Y:-79.30, Z:-44.56 [[ 9.27107157e-01 3.42952936e-01 1.51180695e-01 2.56811849e+02] [-3.38262656e-01 9.39351716e-01 -5.65396236e-02 -7.93047230e+01] [-1.61402275e-01 1.27950609e-03 9.86887870e-01 -4.45559168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.84, Y:-79.31, Z:-44.56 [[ 9.25766386e-01 3.46373921e-01 1.51597179e-01 2.56840720e+02] [-3.41699502e-01 9.38096268e-01 -5.67172138e-02 -7.93144646e+01] [-1.61858112e-01 7.06209421e-04 9.86813788e-01 -4.45612822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.87, Y:-79.32, Z:-44.57 [[ 9.25202206e-01 3.47965408e-01 1.51396674e-01 2.56868460e+02] [-3.43323855e-01 9.37507274e-01 -5.66466431e-02 -7.93242327e+01] [-1.61646555e-01 4.31509588e-04 9.86848623e-01 -4.45661246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:-79.33, Z:-44.57 [[ 9.24626504e-01 3.49550401e-01 1.51262507e-01 2.56894929e+02] [-3.44938497e-01 9.36917549e-01 -5.65945132e-02 -7.93328853e+01] [-1.61503133e-01 1.52524896e-04 9.86872188e-01 -4.45712333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:-79.34, Z:-44.58 [[ 9.23645060e-01 3.52239192e-01 1.51021041e-01 2.56922023e+02] [-3.47678442e-01 9.35909958e-01 -5.65000225e-02 -7.93405429e+01] [-1.61243619e-01 -3.20793639e-04 9.86914582e-01 -4.45758720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.95, Y:-79.35, Z:-44.58 [[ 9.23657512e-01 3.52205365e-01 1.51023774e-01 2.56949122e+02] [-3.47645360e-01 9.35922687e-01 -5.64927162e-02 -7.93505941e+01] [-1.61243615e-01 -3.22792765e-04 9.86914582e-01 -4.45808624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.98, Y:-79.36, Z:-44.59 [[ 9.23277651e-01 3.53216382e-01 1.50985316e-01 2.56977235e+02] [-3.48673162e-01 9.35541518e-01 -5.64720635e-02 -7.93599173e+01] [-1.61199890e-01 -5.05133513e-04 9.86921648e-01 -4.45858107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.00, Y:-79.37, Z:-44.59 [[ 9.22730189e-01 3.54700793e-01 1.50852067e-01 2.57004388e+02] [-3.50186003e-01 9.34979550e-01 -5.64181283e-02 -7.93687558e+01] [-1.61055153e-01 -7.67572381e-04 9.86945109e-01 -4.45911665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.03, Y:-79.38, Z:-44.60 [[ 9.22622532e-01 3.54942877e-01 1.50941108e-01 2.57031446e+02] [-3.50426949e-01 9.34887634e-01 -5.64452406e-02 -7.93779852e+01] [-1.61147811e-01 -8.16181085e-04 9.86929945e-01 -4.45961683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.06, Y:-79.39, Z:-44.60 [[ 9.22653268e-01 3.54731481e-01 1.51249874e-01 2.57058594e+02] [-3.50195446e-01 9.34967890e-01 -5.65525813e-02 -7.93872390e+01] [-1.61474756e-01 -7.88593180e-04 9.86876528e-01 -4.46009180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.09, Y:-79.40, Z:-44.61 [[ 9.22839641e-01 3.54070167e-01 1.51661839e-01 2.57085497e+02] [-3.49501718e-01 9.35218611e-01 -5.66983072e-02 -7.93965010e+01] [-1.61912154e-01 -6.82627877e-04 9.86804939e-01 -4.46057422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:257.11, Y:-79.41, Z:-44.61 [[ 9.23342458e-01 3.52504238e-01 1.52248048e-01 2.57113708e+02] [-3.47880432e-01 9.35810124e-01 -5.69088507e-02 -7.94056816e+01] [-1.62535875e-01 -4.17758596e-04 9.86702546e-01 -4.46077327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.14, Y:-79.42, Z:-44.61 [[ 9.23719040e-01 3.51372459e-01 1.52579590e-01 2.57140923e+02] [-3.46713714e-01 9.36235732e-01 -5.70285463e-02 -7.94161374e+01] [-1.62888724e-01 -2.23082096e-04 9.86644421e-01 -4.46147441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:-79.43, Z:-44.62 [[ 9.24759133e-01 3.48790192e-01 1.52203639e-01 2.57169419e+02] [-3.44120521e-01 9.37200806e-01 -5.68833596e-02 -7.94275130e+01] [-1.62485731e-01 2.27010983e-04 9.86710867e-01 -4.46201812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.20, Y:-79.44, Z:-44.63 [[ 9.25200731e-01 3.47518596e-01 1.52428448e-01 2.57197906e+02] [-3.42817344e-01 9.37672981e-01 -5.69706034e-02 -7.94389773e+01] [-1.62726382e-01 4.54128019e-04 9.86671130e-01 -4.46261445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.22, Y:-79.45, Z:-44.63 [[ 9.25804397e-01 3.45893728e-01 1.52459000e-01 2.57223986e+02] [-3.41163862e-01 9.38273382e-01 -5.70112257e-02 -7.94496902e+01] [-1.62768047e-01 7.67742352e-04 9.86664063e-01 -4.46308268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.25, Y:-79.46, Z:-44.64 [[ 9.26995016e-01 3.42879098e-01 1.52033434e-01 2.57251554e+02] [-3.38136510e-01 9.39378660e-01 -5.68457043e-02 -7.94624099e+01] [-1.62308168e-01 1.28762958e-03 9.86739277e-01 -4.46364079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.28, Y:-79.47, Z:-44.64 [[ 9.27567312e-01 3.41406021e-01 1.51857864e-01 2.57279053e+02] [-3.36654853e-01 9.39914649e-01 -5.67799573e-02 -7.94736337e+01] [-1.62118450e-01 1.54354564e-03 9.86770098e-01 -4.46414635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.31, Y:-79.49, Z:-44.65 [[ 9.28349793e-01 3.39347074e-01 1.51691215e-01 2.57308856e+02] [-3.34579004e-01 9.40659315e-01 -5.67181000e-02 -7.94878053e+01] [-1.61936875e-01 1.90154101e-03 9.86799287e-01 -4.46478093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.34, Y:-79.50, Z:-44.65 [[ 9.28580908e-01 3.38697332e-01 1.51728751e-01 2.57338658e+02] [-3.33912806e-01 9.40893154e-01 -5.67654072e-02 -7.95017166e+01] [-1.61986835e-01 2.04710045e-03 9.86790796e-01 -4.46539000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.37, Y:-79.51, Z:-44.66 [[ 9.28879125e-01 3.38064154e-01 1.51314902e-01 2.57368462e+02] [-3.33292151e-01 9.41120536e-01 -5.66434405e-02 -7.95147454e+01] [-1.61554678e-01 2.18284027e-03 9.86861348e-01 -4.46591950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.40, Y:-79.53, Z:-44.66 [[ 9.29121305e-01 3.37473698e-01 1.51145969e-01 2.57396734e+02] [-3.32699261e-01 9.41332113e-01 -5.66132041e-02 -7.95291330e+01] [-1.61384021e-01 2.31438187e-03 9.86888971e-01 -4.46646254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.43, Y:-79.54, Z:-44.67 [[ 9.29157597e-01 3.37451753e-01 1.50971769e-01 2.57426079e+02] [-3.32683126e-01 9.41339906e-01 -5.65784378e-02 -7.95428724e+01] [-1.61208244e-01 2.34452521e-03 9.86917628e-01 -4.46706287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67587156 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:257.45, Y:-79.56, Z:-44.67 [[ 9.29320824e-01 3.37285314e-01 1.50337698e-01 2.57454171e+02] [-3.32549271e-01 9.41399426e-01 -5.63746706e-02 -7.95587639e+01] [-1.60542171e-01 2.39546351e-03 9.87026075e-01 -4.46729812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.48, Y:-79.57, Z:-44.68 [[ 9.29098797e-01 3.37784826e-01 1.50588303e-01 2.57483254e+02] [-3.33036095e-01 9.41220469e-01 -5.64888323e-02 -7.95731568e+01] [-1.60817863e-01 2.33236581e-03 9.86981345e-01 -4.46815324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.51, Y:-79.59, Z:-44.69 [[ 9.28644465e-01 3.39075864e-01 1.50489253e-01 2.57511822e+02] [-3.34344976e-01 9.40756603e-01 -5.64840779e-02 -7.95891891e+01] [-1.60726146e-01 2.13830057e-03 9.86996724e-01 -4.46870980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.54, Y:-79.60, Z:-44.69 [[ 9.28163562e-01 3.40211837e-01 1.50891712e-01 2.57541003e+02] [-3.35464946e-01 9.40346740e-01 -5.66681426e-02 -7.96025969e+01] [-1.61169703e-01 1.97842500e-03 9.86924725e-01 -4.46922222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:-79.62, Z:-44.70 [[ 9.27106915e-01 3.42787887e-01 1.51556037e-01 2.57569583e+02] [-3.38027895e-01 9.39411522e-01 -5.69485169e-02 -7.96182343e+01] [-1.61894749e-01 1.56719565e-03 9.86806787e-01 -4.46970771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:-79.63, Z:-44.70 [[ 9.26503184e-01 3.44181766e-01 1.52088009e-01 2.57598519e+02] [-3.39401231e-01 9.38902051e-01 -5.71816629e-02 -7.96318407e+01] [-1.62476630e-01 1.36013520e-03 9.86711455e-01 -4.47021794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:-79.65, Z:-44.71 [[ 9.25864259e-01 3.45681659e-01 1.52576424e-01 2.57627852e+02] [-3.40885261e-01 9.38351167e-01 -5.73962118e-02 -7.96459088e+01] [-1.63011083e-01 1.13004705e-03 9.86623591e-01 -4.47075165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:-79.66, Z:-44.71 [[ 9.24607751e-01 3.48914752e-01 1.52836526e-01 2.57656406e+02] [-3.44140143e-01 9.37154280e-01 -5.75275370e-02 -7.96626600e+01] [-1.63303611e-01 5.93222585e-04 9.86575683e-01 -4.47132397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.69, Y:-79.68, Z:-44.72 [[ 9.24035592e-01 3.50647131e-01 1.52331265e-01 2.57685421e+02] [-3.45922056e-01 9.36507602e-01 -5.73711008e-02 -7.96763445e+01] [-1.62776400e-01 3.18194738e-04 9.86662933e-01 -4.47186510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.71, Y:-79.69, Z:-44.72 [[ 9.22914164e-01 3.53881937e-01 1.51647688e-01 2.57714047e+02] [-3.49239503e-01 9.35290073e-01 -5.71336037e-02 -7.96917549e+01] [-1.62053128e-01 -2.31951197e-04 9.86782007e-01 -4.47247377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.74, Y:-79.71, Z:-44.73 [[ 9.22359285e-01 3.55534793e-01 1.51156741e-01 2.57743566e+02] [-3.50939401e-01 9.34662918e-01 -5.69804038e-02 -7.97051174e+01] [-1.61539117e-01 -4.90451830e-04 9.86866188e-01 -4.47302559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.77, Y:-79.72, Z:-44.74 [[ 9.21785409e-01 3.57237229e-01 1.50642696e-01 2.57773651e+02] [-3.52690595e-01 9.34013378e-01 -5.68185974e-02 -7.97187782e+01] [-1.61000011e-01 -7.55707949e-04 9.86954115e-01 -4.47362186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:257.80, Y:-79.73, Z:-44.74 [[ 9.21285827e-01 3.58869901e-01 1.49815950e-01 2.57802637e+02] [-3.54389233e-01 9.33387052e-01 -5.65409887e-02 -7.97314394e+01] [-1.60127127e-01 -1.00274816e-03 9.87095891e-01 -4.47393672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.83, Y:-79.75, Z:-44.75 [[ 9.20099787e-01 3.61921178e-01 1.49764623e-01 2.57830225e+02] [-3.57478499e-01 9.32207489e-01 -5.65536835e-02 -7.97465319e+01] [-1.60079679e-01 -1.50260065e-03 9.87102952e-01 -4.47473990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:-79.76, Z:-44.75 [[ 9.18769654e-01 3.65169452e-01 1.50045308e-01 2.57859272e+02] [-3.60748048e-01 9.30938825e-01 -5.66899504e-02 -7.97610837e+01] [-1.60384441e-01 -2.04354577e-03 9.87052509e-01 -4.47521868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.89, Y:-79.77, Z:-44.76 [[ 9.18014701e-01 3.66797507e-01 1.50693723e-01 2.57888464e+02] [-3.62353869e-01 9.30297946e-01 -5.69684572e-02 -7.97734232e+01] [-1.61085949e-01 -2.30657251e-03 9.86937686e-01 -4.47571844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:257.91, Y:-79.78, Z:-44.76 [[ 9.17425104e-01 3.68194824e-01 1.50876607e-01 2.57914951e+02] [-3.63753658e-01 9.29745235e-01 -5.70707813e-02 -7.97842447e+01] [-1.61289973e-01 -2.52375037e-03 9.86903833e-01 -4.47597508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.94, Y:-79.80, Z:-44.77 [[ 9.16310359e-01 3.70622411e-01 1.51704830e-01 2.57944170e+02] [-3.66166636e-01 9.28778859e-01 -5.73744340e-02 -7.97974456e+01] [-1.62164490e-01 -2.97645890e-03 9.86759251e-01 -4.47670052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.97, Y:-79.81, Z:-44.77 [[ 9.15902335e-01 3.71665357e-01 1.51617201e-01 2.57973220e+02] [-3.67223390e-01 9.28361504e-01 -5.73750800e-02 -7.98087953e+01] [-1.62079902e-01 -3.12741288e-03 9.86772681e-01 -4.47723641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.00, Y:-79.82, Z:-44.78 [[ 9.15658150e-01 3.72604785e-01 1.50784036e-01 2.58003242e+02] [-3.68219377e-01 9.27984449e-01 -5.70907422e-02 -7.98215401e+01] [-1.61197525e-01 -3.24600049e-03 9.86916826e-01 -4.47780198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:-79.83, Z:-44.78 [[ 9.15594441e-01 3.72922223e-01 1.50385624e-01 2.58033768e+02] [-3.68558955e-01 9.27856873e-01 -5.69729809e-02 -7.98336967e+01] [-1.60782825e-01 -3.26182379e-03 9.86984419e-01 -4.47835835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.06, Y:-79.85, Z:-44.79 [[ 9.15570913e-01 3.72996254e-01 1.50345265e-01 2.58062541e+02] [-3.68630955e-01 9.27827181e-01 -5.69907042e-02 -7.98451701e+01] [-1.60751743e-01 -3.24288769e-03 9.86989544e-01 -4.47896112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.09, Y:-79.86, Z:-44.80 [[ 9.15679340e-01 3.72859942e-01 1.50022701e-01 2.58092932e+02] [-3.68506705e-01 9.27882175e-01 -5.68988378e-02 -7.98573068e+01] [-1.60418688e-01 -3.18328111e-03 9.87043926e-01 -4.47950934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.12, Y:-79.87, Z:-44.80 [[ 9.15686785e-01 3.72720142e-01 1.50324342e-01 2.58122033e+02] [-3.68342060e-01 9.27938506e-01 -5.70460848e-02 -7.98688300e+01] [-1.60753970e-01 -3.13443167e-03 9.86989532e-01 -4.48002137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.15, Y:-79.88, Z:-44.81 [[ 9.15894925e-01 3.71959303e-01 1.50939602e-01 2.58152086e+02] [-3.67529823e-01 9.28244240e-01 -5.73102131e-02 -7.98800533e+01] [-1.61425883e-01 -2.98467191e-03 9.86880325e-01 -4.48050510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.18, Y:-79.89, Z:-44.81 [[ 9.16001765e-01 3.71537860e-01 1.51328734e-01 2.58181974e+02] [-3.67074657e-01 9.28413308e-01 -5.74884868e-02 -7.98912632e+01] [-1.61854760e-01 -2.88938768e-03 9.86810361e-01 -4.48106715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.21, Y:-79.90, Z:-44.82 [[ 9.16276790e-01 3.70695919e-01 1.51727979e-01 2.58212046e+02] [-3.66192565e-01 9.28750310e-01 -5.76703285e-02 -7.99028266e+01] [-1.62295563e-01 -2.71967440e-03 9.86738442e-01 -4.48159661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48587156 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:258.24, Y:-79.91, Z:-44.82 [[ 9.17073493e-01 3.68432061e-01 1.52427115e-01 2.58241405e+02] [-3.63850368e-01 9.29651833e-01 -5.79687790e-02 -7.99149319e+01] [-1.63061704e-01 -2.29903121e-03 9.86613194e-01 -4.48211039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51587156 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:258.27, Y:-79.93, Z:-44.82 [[ 9.17719377e-01 3.66924997e-01 1.52174872e-01 2.58272603e+02] [-3.62332980e-01 9.30248381e-01 -5.79030365e-02 -7.99265308e+01] [-1.62806499e-01 -1.99923616e-03 9.86655992e-01 -4.48249362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.30, Y:-79.94, Z:-44.83 [[ 9.19114039e-01 3.63493964e-01 1.51991849e-01 2.58302686e+02] [-3.58861090e-01 9.31595562e-01 -5.78655862e-02 -7.99385622e+01] [-1.62628723e-01 -1.35888798e-03 9.86686400e-01 -4.48327106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.33, Y:-79.95, Z:-44.84 [[ 9.19790393e-01 3.61869532e-01 1.51776398e-01 2.58332482e+02] [-3.57222560e-01 9.32228170e-01 -5.78159279e-02 -7.99505087e+01] [-1.62412057e-01 -1.03941856e-03 9.86722475e-01 -4.48384135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.36, Y:-79.96, Z:-44.84 [[ 9.20351153e-01 3.60496381e-01 1.51644695e-01 2.58361943e+02] [-3.55833401e-01 9.32760299e-01 -5.77997905e-02 -7.99627693e+01] [-1.62284766e-01 -7.64143474e-04 9.86743670e-01 -4.48438355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.39, Y:-79.98, Z:-44.85 [[ 9.21241614e-01 3.58094316e-01 1.51928764e-01 2.58392140e+02] [-3.53376004e-01 9.33685367e-01 -5.79399296e-02 -7.99757736e+01] [-1.62601623e-01 -3.11305109e-04 9.86691753e-01 -4.48500300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.42, Y:-79.99, Z:-44.86 [[ 9.21737390e-01 3.57145144e-01 1.51153993e-01 2.58421853e+02] [-3.52457312e-01 9.34048892e-01 -5.76759032e-02 -7.99886431e+01] [-1.61783889e-01 -1.13293705e-04 9.86826206e-01 -4.48556492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.45, Y:-80.00, Z:-44.86 [[ 9.21774445e-01 3.57371532e-01 1.50391027e-01 2.58451661e+02] [-3.52728786e-01 9.33962298e-01 -5.74180287e-02 -8.00003640e+01] [-1.60979118e-01 -1.20772858e-04 9.86957805e-01 -4.48610248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.48, Y:-80.01, Z:-44.87 [[ 9.21543564e-01 3.58001923e-01 1.50306628e-01 2.58480752e+02] [-3.53367668e-01 9.33720827e-01 -5.74169713e-02 -8.00112658e+01] [-1.60899815e-01 -2.01262264e-04 9.86970723e-01 -4.48664310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.51, Y:-80.02, Z:-44.87 [[ 9.20865283e-01 3.59819217e-01 1.50124155e-01 2.58512046e+02] [-3.55215533e-01 9.33021913e-01 -5.73762583e-02 -8.00220002e+01] [-1.60714206e-01 -4.90627260e-04 9.87000863e-01 -4.48704471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:-80.03, Z:-44.88 [[ 9.20324592e-01 3.61126095e-01 1.50301663e-01 2.58541551e+02] [-3.56523378e-01 9.32516740e-01 -5.74770479e-02 -8.00337210e+01] [-1.60915278e-01 -6.88515920e-04 9.86967983e-01 -4.48780643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:-80.04, Z:-44.88 [[ 9.19236641e-01 3.63804138e-01 1.50500985e-01 2.58571041e+02] [-3.59219115e-01 9.31474788e-01 -5.75877233e-02 -8.00442796e+01] [-1.61138525e-01 -1.12608540e-03 9.86931156e-01 -4.48828564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.60, Y:-80.06, Z:-44.89 [[ 9.18686108e-01 3.65176526e-01 1.50538830e-01 2.58601737e+02] [-3.60602260e-01 9.30937333e-01 -5.76341315e-02 -8.00558131e+01] [-1.61188849e-01 -1.33696643e-03 9.86922676e-01 -4.48880371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.63, Y:-80.07, Z:-44.89 [[ 9.18050806e-01 3.66687530e-01 1.50741409e-01 2.58632423e+02] [-3.62115672e-01 9.30342829e-01 -5.77447831e-02 -8.00671724e+01] [-1.61415481e-01 -1.57318187e-03 9.86885286e-01 -4.48932924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.66, Y:-80.08, Z:-44.90 [[ 9.16888699e-01 3.69369559e-01 1.51265469e-01 2.58663671e+02] [-3.64796376e-01 9.29280391e-01 -5.79789557e-02 -8.00767501e+01] [-1.61983695e-01 -2.02084554e-03 9.86791365e-01 -4.48986934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:258.69, Y:-80.09, Z:-44.90 [[ 9.15946332e-01 3.71650385e-01 1.51387939e-01 2.58694648e+02] [-3.67095189e-01 9.28369677e-01 -5.80591548e-02 -8.00867880e+01] [-1.62121680e-01 -2.39471437e-03 9.86767869e-01 -4.49042657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.72, Y:-80.10, Z:-44.91 [[ 9.15637255e-01 3.72555946e-01 1.51031400e-01 2.58724361e+02] [-3.68029049e-01 9.28006320e-01 -5.79559209e-02 -8.00967546e+01] [-1.61749917e-01 -2.51734217e-03 9.86828570e-01 -4.49094037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.75, Y:-80.11, Z:-44.91 [[ 9.15442866e-01 3.73121669e-01 1.50813061e-01 2.58752141e+02] [-3.68612058e-01 9.27778796e-01 -5.78934916e-02 -8.01050045e+01] [-1.61522476e-01 -2.59332884e-03 9.86865626e-01 -4.49145190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.78, Y:-80.11, Z:-44.92 [[ 9.15462397e-01 3.73074078e-01 1.50812242e-01 2.58778408e+02] [-3.68563474e-01 9.27797964e-01 -5.78956255e-02 -8.01149399e+01] [-1.61522648e-01 -2.58261564e-03 9.86865626e-01 -4.49193680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:258.81, Y:-80.12, Z:-44.92 [[ 9.15320038e-01 3.73631116e-01 1.50296433e-01 2.58810516e+02] [-3.69160835e-01 9.27573498e-01 -5.76860824e-02 -8.01226382e+01] [-1.60964304e-01 -2.68232960e-03 9.86956584e-01 -4.49229983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:258.84, Y:-80.13, Z:-44.93 [[ 9.15347416e-01 3.73529580e-01 1.50382052e-01 2.58839647e+02] [-3.69047310e-01 9.27614528e-01 -5.77526603e-02 -8.01327601e+01] [-1.61068903e-01 -2.63434320e-03 9.86939648e-01 -4.49314372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.87, Y:-80.14, Z:-44.94 [[ 9.15721106e-01 3.72491259e-01 1.50682176e-01 2.58869773e+02] [-3.67973688e-01 9.28032499e-01 -5.78882133e-02 -8.01409044e+01] [-1.61400810e-01 -2.43761742e-03 9.86885929e-01 -4.49367398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.90, Y:-80.15, Z:-44.94 [[ 9.16035198e-01 3.71566566e-01 1.51055629e-01 2.58900876e+02] [-3.67009641e-01 9.28403575e-01 -5.80579432e-02 -8.01510056e+01] [-1.61812976e-01 -2.25575265e-03 9.86818865e-01 -4.49418292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.93, Y:-80.16, Z:-44.95 [[ 9.17193718e-01 3.68349252e-01 1.51902968e-01 2.58932128e+02] [-3.63691320e-01 9.29685997e-01 -5.84172103e-02 -8.01606085e+01] [-1.62739998e-01 -1.66589257e-03 9.86667582e-01 -4.49462426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.96, Y:-80.17, Z:-44.95 [[ 9.17840245e-01 3.66703821e-01 1.51978921e-01 2.58962161e+02] [-3.62013139e-01 9.30336770e-01 -5.84806099e-02 -8.01707824e+01] [-1.62836641e-01 -1.34250880e-03 9.86652130e-01 -4.49517890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.99, Y:-80.18, Z:-44.96 [[ 9.19437497e-01 3.62660612e-01 1.52026213e-01 2.58993999e+02] [-3.57906770e-01 9.31921094e-01 -5.85304977e-02 -8.01794444e+01] [-1.62903141e-01 -5.96076654e-04 9.86641886e-01 -4.49562969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.02, Y:-80.19, Z:-44.96 [[ 9.20267476e-01 3.60539757e-01 1.52048858e-01 2.59024606e+02] [-3.55750200e-01 9.32743827e-01 -5.85725858e-02 -8.01911364e+01] [-1.62940380e-01 -1.88965972e-04 9.86635899e-01 -4.49630264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.05, Y:-80.20, Z:-44.97 [[ 9.21069926e-01 3.58448628e-01 1.52134061e-01 2.59054931e+02] [-3.53619599e-01 9.33549428e-01 -5.86399501e-02 -8.02037905e+01] [-1.63044076e-01 2.13908728e-04 9.86618763e-01 -4.49691741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.08, Y:-80.22, Z:-44.97 [[ 9.22715297e-01 3.54145761e-01 1.52240800e-01 2.59083425e+02] [-3.49245862e-01 9.35189693e-01 -5.87159738e-02 -8.02165356e+01] [-1.63168040e-01 1.00865771e-03 9.86597777e-01 -4.49749081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:259.11, Y:-80.23, Z:-44.98 [[ 9.23457970e-01 3.52336217e-01 1.51936068e-01 2.59113047e+02] [-3.47426299e-01 9.35872507e-01 -5.86312014e-02 -8.02284590e+01] [-1.62850684e-01 1.35686454e-03 9.86649793e-01 -4.49802266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.14, Y:-80.24, Z:-44.99 [[ 9.24550946e-01 3.49827331e-01 1.51084039e-01 2.59142908e+02] [-3.44936140e-01 9.36812453e-01 -5.83222754e-02 -8.02408865e+01] [-1.61940135e-01 1.80756940e-03 9.86798928e-01 -4.49863941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.17, Y:-80.25, Z:-44.99 [[ 9.24796541e-01 3.49491541e-01 1.50356313e-01 2.59172548e+02] [-3.44637740e-01 9.36937615e-01 -5.80752513e-02 -8.02529821e+01] [-1.61171294e-01 1.88933160e-03 9.86924640e-01 -4.49914230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44587156 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:259.20, Y:-80.26, Z:-44.99 [[ 9.24946485e-01 3.49475335e-01 1.49469026e-01 2.59202529e+02] [-3.44673745e-01 9.36943616e-01 -5.77639067e-02 -8.02645809e+01] [-1.60231110e-01 1.91047342e-03 9.87077677e-01 -4.49944845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47587156000003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:259.23, Y:-80.28, Z:-45.00 [[ 9.24559057e-01 3.50779171e-01 1.48810358e-01 2.59232366e+02] [-3.46031982e-01 9.36456654e-01 -5.75395801e-02 -8.02775547e+01] [-1.59538136e-01 1.70559681e-03 9.87190293e-01 -4.50001737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.26, Y:-80.29, Z:-45.01 [[ 9.23978032e-01 3.52115416e-01 1.49262621e-01 2.59261100e+02] [-3.47350781e-01 9.35955365e-01 -5.77493633e-02 -8.02903088e+01] [-1.60037592e-01 1.51265514e-03 9.87109761e-01 -4.50083747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.29, Y:-80.30, Z:-45.01 [[ 9.22683673e-01 3.55396197e-01 1.49493756e-01 2.59290357e+02] [-3.50656058e-01 9.34715257e-01 -5.78594625e-02 -8.03029492e+01] [-1.60297128e-01 9.65090105e-04 9.87068336e-01 -4.50117865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.32, Y:-80.31, Z:-45.02 [[ 9.22041403e-01 3.57116195e-01 1.49357537e-01 2.59319320e+02] [-3.52402052e-01 9.34059709e-01 -5.78381731e-02 -8.03146616e+01] [-1.60163806e-01 6.95287700e-04 9.87090205e-01 -4.50185610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.35, Y:-80.33, Z:-45.02 [[ 9.21383512e-01 3.58952969e-01 1.49014059e-01 2.59349758e+02] [-3.54279299e-01 9.33355560e-01 -5.77371376e-02 -8.03268438e+01] [-1.59808017e-01 4.05450246e-04 9.87148030e-01 -4.50246958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:259.38, Y:-80.34, Z:-45.03 [[ 9.20702565e-01 3.60761735e-01 1.48854816e-01 2.59379780e+02] [-3.56119451e-01 9.32658008e-01 -5.76886208e-02 -8.03383280e+01] [-1.59642483e-01 1.03965658e-04 9.87174892e-01 -4.50301476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.41, Y:-80.35, Z:-45.03 [[ 9.19411799e-01 3.64064292e-01 1.48792253e-01 2.59411026e+02] [-3.59463493e-01 9.31373716e-01 -5.76974651e-02 -8.03486881e+01] [-1.59586780e-01 -4.37652670e-04 9.87183807e-01 -4.50333411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.44, Y:-80.36, Z:-45.04 [[ 9.18086440e-01 3.67327671e-01 1.48955264e-01 2.59441209e+02] [-3.62753979e-01 9.30091088e-01 -5.77937556e-02 -8.03603238e+01] [-1.59771209e-01 -9.74451265e-04 9.87153591e-01 -4.50414611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.47, Y:-80.37, Z:-45.05 [[ 9.17465050e-01 3.68945458e-01 1.48785518e-01 2.59471378e+02] [-3.64398001e-01 9.29450242e-01 -5.77610994e-02 -8.03719426e+01] [-1.59599431e-01 -1.22335531e-03 9.87181100e-01 -4.50471036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.50, Y:-80.38, Z:-45.05 [[ 9.16757816e-01 3.70649804e-01 1.48908797e-01 2.59500753e+02] [-3.66111611e-01 9.28771503e-01 -5.78427577e-02 -8.03832405e+01] [-1.59741654e-01 -1.48943933e-03 9.87157731e-01 -4.50525279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.77587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.53, Y:-80.39, Z:-45.06 [[ 9.15789912e-01 3.73106135e-01 1.48730124e-01 2.59531274e+02] [-3.68606021e-01 9.27786750e-01 -5.78043897e-02 -8.03939730e+01] [-1.59557011e-01 -1.88614212e-03 9.87186914e-01 -4.50576426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.56, Y:-80.41, Z:-45.06 [[ 9.15432424e-01 3.74054097e-01 1.48549685e-01 2.59562116e+02] [-3.69571947e-01 9.27404692e-01 -5.77677534e-02 -8.04051921e+01] [-1.59373940e-01 -2.01732179e-03 9.87216226e-01 -4.50628947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.59, Y:-80.42, Z:-45.07 [[ 9.15003983e-01 3.74721368e-01 1.49504542e-01 2.59592819e+02] [-3.70184340e-01 9.27135061e-01 -5.81733028e-02 -8.04150835e+01] [-1.60409683e-01 -2.11543657e-03 9.87048255e-01 -4.50681828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.62, Y:-80.43, Z:-45.07 [[ 9.15052150e-01 3.74427000e-01 1.49946604e-01 2.59622500e+02] [-3.69854089e-01 9.27254147e-01 -5.83755054e-02 -8.04260172e+01] [-1.60895976e-01 -2.04173294e-03 9.86969258e-01 -4.50737724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.65, Y:-80.44, Z:-45.08 [[ 9.15381121e-01 3.73610394e-01 1.49975587e-01 2.59651024e+02] [-3.69021185e-01 9.27583823e-01 -5.84090488e-02 -8.04366537e+01] [-1.60937156e-01 -1.87762823e-03 9.86962870e-01 -4.50792949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.68, Y:-80.45, Z:-45.08 [[ 9.16281171e-01 3.71384504e-01 1.50007884e-01 2.59677575e+02] [-3.66763630e-01 9.28477969e-01 -5.84217440e-02 -8.04472538e+01] [-1.60975946e-01 -1.48669213e-03 9.86957210e-01 -4.50847403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95587156 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:259.70, Y:-80.46, Z:-45.09 [[ 9.16736483e-01 3.70335691e-01 1.49818878e-01 2.59703988e+02] [-3.65712903e-01 9.28897077e-01 -5.83463221e-02 -8.04578216e+01] [-1.60774043e-01 -1.30249440e-03 9.86990380e-01 -4.50872195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98587156 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:259.73, Y:-80.47, Z:-45.09 [[ 9.17646392e-01 3.68149892e-01 1.49635413e-01 2.59730650e+02] [-3.63510642e-01 9.29765994e-01 -5.82684331e-02 -8.04699929e+01] [-1.60577436e-01 -9.24247818e-04 9.87022813e-01 -4.50949388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:259.76, Y:-80.48, Z:-45.10 [[ 9.17896226e-01 3.67664498e-01 1.49296135e-01 2.59760379e+02] [-3.63040307e-01 9.29958124e-01 -5.81345210e-02 -8.04818555e+01] [-1.60213154e-01 -8.39057395e-04 9.87082084e-01 -4.51002287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04587156 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:259.79, Y:-80.49, Z:-45.10 [[ 9.18325955e-01 3.66721291e-01 1.48972934e-01 2.59789059e+02] [-3.62100191e-01 9.30330628e-01 -5.80376921e-02 -8.04936338e+01] [-1.59877741e-01 -6.45608997e-04 9.87136612e-01 -4.51040253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.82, Y:-80.50, Z:-45.11 [[ 9.18534426e-01 3.66249847e-01 1.48847433e-01 2.59815205e+02] [-3.61625835e-01 9.30516395e-01 -5.80171820e-02 -8.05047526e+01] [-1.59753761e-01 -5.36298325e-04 9.87156750e-01 -4.51113666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.84, Y:-80.52, Z:-45.12 [[ 9.18711181e-01 3.65840126e-01 1.48764133e-01 2.59843611e+02] [-3.61215673e-01 9.30677596e-01 -5.79866337e-02 -8.05159637e+01] [-1.59665283e-01 -4.62967804e-04 9.87171101e-01 -4.51164174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.87, Y:-80.53, Z:-45.12 [[ 9.18793897e-01 3.65479657e-01 1.49138843e-01 2.59873226e+02] [-3.60827350e-01 9.30819240e-01 -5.81305970e-02 -8.05294564e+01] [-1.60066856e-01 -4.03335763e-04 9.87106093e-01 -4.51218472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16587156 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:259.90, Y:-80.54, Z:-45.12 [[ 9.18734202e-01 3.65660709e-01 1.49062777e-01 2.59902364e+02] [-3.61010128e-01 9.30748131e-01 -5.81343635e-02 -8.05422753e+01] [-1.59997354e-01 -4.03144024e-04 9.87117361e-01 -4.51238959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.93, Y:-80.55, Z:-45.13 [[ 9.18787761e-01 3.65307758e-01 1.49597099e-01 2.59928896e+02] [-3.60613551e-01 9.30886752e-01 -5.83756954e-02 -8.05549627e+01] [-1.60583052e-01 -3.11866519e-04 9.87022283e-01 -4.51302313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:259.96, Y:-80.57, Z:-45.14 [[ 9.18753922e-01 3.65351816e-01 1.49697298e-01 2.59958165e+02] [-3.60651782e-01 9.30869459e-01 -5.84152630e-02 -8.05670819e+01] [-1.60690765e-01 -3.19345213e-04 9.87004750e-01 -4.51362903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.99, Y:-80.58, Z:-45.14 [[ 9.18824968e-01 3.65233632e-01 1.49549561e-01 2.59988011e+02] [-3.60536752e-01 9.30915850e-01 -5.83860499e-02 -8.05813544e+01] [-1.60542606e-01 -2.71552532e-04 9.87028874e-01 -4.51405984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.02, Y:-80.59, Z:-45.15 [[ 9.18777198e-01 3.65365472e-01 1.49521008e-01 2.60017888e+02] [-3.60666688e-01 9.30864116e-01 -5.84083710e-02 -8.05949587e+01] [-1.60524143e-01 -2.62967187e-04 9.87031879e-01 -4.51472344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:-80.61, Z:-45.15 [[ 9.18520350e-01 3.65981103e-01 1.49593444e-01 2.60046772e+02] [-3.61280382e-01 9.30622221e-01 -5.84702349e-02 -8.06084969e+01] [-1.60613985e-01 -3.39076075e-04 9.87017240e-01 -4.51530181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.08, Y:-80.62, Z:-45.16 [[ 9.18180274e-01 3.66720919e-01 1.49869115e-01 2.60077003e+02] [-3.62007458e-01 9.30330895e-01 -5.86090952e-02 -8.06216625e+01] [-1.60921049e-01 -4.40022200e-04 9.86967184e-01 -4.51588229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:260.11, Y:-80.63, Z:-45.16 [[ 9.17831960e-01 3.67527980e-01 1.50025589e-01 2.60106285e+02] [-3.62809826e-01 9.30012301e-01 -5.87039154e-02 -8.06342890e+01] [-1.61100975e-01 -5.50428040e-04 9.86937776e-01 -4.51644307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.14, Y:-80.65, Z:-45.17 [[ 9.17052548e-01 3.69505926e-01 1.49933304e-01 2.60136017e+02] [-3.64814785e-01 9.29227968e-01 -5.86988520e-02 -8.06488540e+01] [-1.61011793e-01 -8.67954249e-04 9.86952101e-01 -4.51698544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:260.17, Y:-80.66, Z:-45.17 [[ 9.16543906e-01 3.70922993e-01 1.49543981e-01 2.60166662e+02] [-3.66269629e-01 9.28662997e-01 -5.85798391e-02 -8.06616885e+01] [-1.60604571e-01 -1.08242381e-03 9.87018237e-01 -4.51733142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:260.20, Y:-80.67, Z:-45.18 [[ 9.15488954e-01 3.73815216e-01 1.48802416e-01 2.60195442e+02] [-3.69240701e-01 9.27501904e-01 -5.83225846e-02 -8.06742636e+01] [-1.59816394e-01 -1.55022639e-03 9.87145540e-01 -4.51795357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.22, Y:-80.69, Z:-45.19 [[ 9.14909460e-01 3.75367814e-01 1.48457683e-01 2.60224392e+02] [-3.70829888e-01 9.26874213e-01 -5.82184384e-02 -8.06868210e+01] [-1.59454926e-01 -1.78794599e-03 9.87203591e-01 -4.51869576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.25, Y:-80.70, Z:-45.19 [[ 9.14196660e-01 3.77030044e-01 1.48636512e-01 2.60253340e+02] [-3.72497955e-01 9.26198757e-01 -5.83192635e-02 -8.06993367e+01] [-1.59655067e-01 -2.05152069e-03 9.87170730e-01 -4.51926875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:260.28, Y:-80.71, Z:-45.20 [[ 9.12989206e-01 3.79625517e-01 1.49449582e-01 2.60282762e+02] [-3.75073290e-01 9.25136884e-01 -5.86666266e-02 -8.07125587e+01] [-1.60532669e-01 -2.49254957e-03 9.87027380e-01 -4.51978450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.31, Y:-80.73, Z:-45.20 [[ 9.12430412e-01 3.80820859e-01 1.49820614e-01 2.60312948e+02] [-3.76256418e-01 9.24644958e-01 -5.88456350e-02 -8.07250802e+01] [-1.60940521e-01 -2.67842062e-03 9.86960473e-01 -4.52032758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.34, Y:-80.74, Z:-45.21 [[ 9.11775345e-01 3.82189390e-01 1.50322952e-01 2.60341727e+02] [-3.77606815e-01 9.24079476e-01 -5.90780485e-02 -8.07373705e+01] [-1.61489358e-01 -2.89706303e-03 9.86870201e-01 -4.52085309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.37, Y:-80.75, Z:-45.21 [[ 9.11619362e-01 3.82689613e-01 1.49995993e-01 2.60371605e+02] [-3.78130440e-01 9.23872231e-01 -5.89700854e-02 -8.07497726e+01] [-1.61144372e-01 -2.95977927e-03 9.86926406e-01 -4.52141038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.40, Y:-80.76, Z:-45.22 [[ 9.11544600e-01 3.83005752e-01 1.49643031e-01 2.60401542e+02] [-3.78466930e-01 9.23741160e-01 -5.88646975e-02 -8.07623238e+01] [-1.60776945e-01 -2.97714154e-03 9.86986277e-01 -4.52198727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70587156 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:260.43, Y:-80.77, Z:-45.23 [[ 9.11550945e-01 3.83054738e-01 1.49478905e-01 2.60430473e+02] [-3.78521099e-01 9.23720932e-01 -5.88338119e-02 -8.07748871e+01] [-1.60613364e-01 -2.95090256e-03 9.87012989e-01 -4.52261542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:260.46, Y:-80.79, Z:-45.23 [[ 9.11531643e-01 3.83158349e-01 1.49330985e-01 2.60460217e+02] [-3.78630013e-01 9.23678004e-01 -5.88069629e-02 -8.07871173e+01] [-1.60466125e-01 -2.93678524e-03 9.87036979e-01 -4.52293173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.49, Y:-80.80, Z:-45.24 [[ 9.11406490e-01 3.83181643e-01 1.50033455e-01 2.60489358e+02] [-3.78605994e-01 9.23668368e-01 -5.91121671e-02 -8.08006054e+01] [-1.61231854e-01 -2.92835269e-03 9.86912212e-01 -4.52369002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:260.52, Y:-80.81, Z:-45.24 [[ 9.11172061e-01 3.83671205e-01 1.50206134e-01 2.60518506e+02] [-3.79085984e-01 9.23464935e-01 -5.92142735e-02 -8.08128775e+01] [-1.61428909e-01 -2.98664841e-03 9.86879824e-01 -4.52420592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.55, Y:-80.83, Z:-45.25 [[ 9.10682993e-01 3.84597714e-01 1.50801474e-01 2.60548379e+02] [-3.79983251e-01 9.23078966e-01 -5.94806861e-02 -8.08253241e+01] [-1.62077804e-01 -3.13398508e-03 9.86773005e-01 -4.52470653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.58, Y:-80.84, Z:-45.25 [[ 9.10422291e-01 3.85077020e-01 1.51152046e-01 2.60577680e+02] [-3.80441831e-01 9.22878910e-01 -5.96534251e-02 -8.08372918e+01] [-1.62466198e-01 -3.19475300e-03 9.86708938e-01 -4.52528147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:260.61, Y:-80.85, Z:-45.26 [[ 9.10310286e-01 3.85297542e-01 1.51264628e-01 2.60607596e+02] [-3.80653152e-01 9.22786824e-01 -5.97298604e-02 -8.08499700e+01] [-1.62598774e-01 -3.20665122e-03 9.86687061e-01 -4.52583253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.64, Y:-80.86, Z:-45.26 [[ 9.10273835e-01 3.85347606e-01 1.51356427e-01 2.60637009e+02] [-3.80692721e-01 9.22765988e-01 -5.97995204e-02 -8.08628860e+01] [-1.62710165e-01 -3.18635143e-03 9.86668764e-01 -4.52638400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.67, Y:-80.88, Z:-45.27 [[ 9.10242059e-01 3.85427233e-01 1.51344781e-01 2.60667666e+02] [-3.80768544e-01 9.22732794e-01 -5.98289817e-02 -8.08751330e+01] [-1.62710511e-01 -3.16847646e-03 9.86668764e-01 -4.52695425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.70, Y:-80.89, Z:-45.27 [[ 9.10352169e-01 3.85135065e-01 1.51426255e-01 2.60697305e+02] [-3.80465048e-01 9.22854994e-01 -5.98749293e-02 -8.08877741e+01] [-1.62804411e-01 -3.10512566e-03 9.86653476e-01 -4.52744861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.73, Y:-80.90, Z:-45.28 [[ 9.10328105e-01 3.85152873e-01 1.51525594e-01 2.60727883e+02] [-3.80471451e-01 9.22847648e-01 -5.99474181e-02 -8.08997557e+01] [-1.62923959e-01 -3.07934324e-03 9.86633823e-01 -4.52799661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03587156000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:260.76, Y:-80.91, Z:-45.28 [[ 9.10229847e-01 3.85362489e-01 1.51582909e-01 2.60757474e+02] [-3.80674889e-01 9.22760111e-01 -6.00033873e-02 -8.09120110e+01] [-1.62997717e-01 -3.08693302e-03 9.86621617e-01 -4.52841796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.79, Y:-80.92, Z:-45.29 [[ 9.10227684e-01 3.85428005e-01 1.51429246e-01 2.60785468e+02] [-3.80745738e-01 9.22732816e-01 -5.99735980e-02 -8.09240150e+01] [-1.62844239e-01 -3.06641097e-03 9.86647024e-01 -4.52910771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.81, Y:-80.94, Z:-45.30 [[ 9.10171981e-01 3.85690162e-01 1.51096206e-01 2.60814790e+02] [-3.81027834e-01 9.22623218e-01 -5.98680806e-02 -8.09356141e+01] [-1.62495397e-01 -3.08161036e-03 9.86704489e-01 -4.52963102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.84, Y:-80.95, Z:-45.30 [[ 9.09837471e-01 3.86445389e-01 1.51181141e-01 2.60842720e+02] [-3.81783201e-01 9.22306773e-01 -5.99316666e-02 -8.09454772e+01] [-1.62595707e-01 -3.19034396e-03 9.86687619e-01 -4.53021603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.87, Y:-80.96, Z:-45.31 [[ 9.09648394e-01 3.86852876e-01 1.51276738e-01 2.60869716e+02] [-3.82189980e-01 9.22135675e-01 -5.99717894e-02 -8.09554124e+01] [-1.62697936e-01 -3.26321142e-03 9.86670529e-01 -4.53068484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.90, Y:-80.96, Z:-45.31 [[ 9.09326678e-01 3.87629354e-01 1.51223267e-01 2.60897636e+02] [-3.82980744e-01 9.21809040e-01 -5.99486762e-02 -8.09638302e+01] [-1.62636841e-01 -3.40266867e-03 9.86680130e-01 -4.53122598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.92, Y:-80.97, Z:-45.32 [[ 9.09369254e-01 3.87543719e-01 1.51186724e-01 2.60923545e+02] [-3.82896807e-01 9.21845092e-01 -5.99304747e-02 -8.09723916e+01] [-1.62596419e-01 -3.38998291e-03 9.86686836e-01 -4.53177190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:260.95, Y:-80.98, Z:-45.32 [[ 9.09529693e-01 3.87267857e-01 1.50928276e-01 2.60950095e+02] [-3.82634783e-01 9.21961184e-01 -5.98180456e-02 -8.09820037e+01] [-1.62315618e-01 -3.34411936e-03 9.86733225e-01 -4.53229090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.27587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:260.98, Y:-80.99, Z:-45.33 [[ 9.10045660e-01 3.86220915e-01 1.50500171e-01 2.60975677e+02] [-3.81601322e-01 9.22400915e-01 -5.96404522e-02 -8.09912156e+01] [-1.61855886e-01 -3.15552965e-03 9.86809361e-01 -4.53280020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.00, Y:-81.00, Z:-45.33 [[ 9.10309177e-01 3.85605822e-01 1.50483729e-01 2.61004129e+02] [-3.80980254e-01 9.22658564e-01 -5.96256632e-02 -8.10008639e+01] [-1.61837104e-01 -3.05354113e-03 9.86812762e-01 -4.53332252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.03, Y:-81.01, Z:-45.34 [[ 9.10911336e-01 3.84459874e-01 1.49770303e-01 2.61032290e+02] [-3.79862914e-01 9.23137348e-01 -5.93430980e-02 -8.10098230e+01] [-1.61073601e-01 -2.83588327e-03 9.86938323e-01 -4.53384188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.06, Y:-81.02, Z:-45.34 [[ 9.11046042e-01 3.84193390e-01 1.49634717e-01 2.61058865e+02] [-3.79601505e-01 9.23248432e-01 -5.92876873e-02 -8.10200581e+01] [-1.60927955e-01 -2.78775082e-03 9.86962219e-01 -4.53438101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.09, Y:-81.03, Z:-45.35 [[ 9.11255589e-01 3.83816981e-01 1.49324403e-01 2.61085530e+02] [-3.79240466e-01 9.23405172e-01 -5.91570518e-02 -8.10294335e+01] [-1.60592407e-01 -2.72266194e-03 9.87017055e-01 -4.53485767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.11, Y:-81.04, Z:-45.35 [[ 9.11240112e-01 3.83940625e-01 1.49100823e-01 2.61114262e+02] [-3.79380844e-01 9.23353695e-01 -5.90603856e-02 -8.10379775e+01] [-1.60348477e-01 -2.74780364e-03 9.87056642e-01 -4.53540515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.14, Y:-81.05, Z:-45.36 [[ 9.11145508e-01 3.84127566e-01 1.49197441e-01 2.61142994e+02] [-3.79564327e-01 9.23275837e-01 -5.90986569e-02 -8.10482341e+01] [-1.60451815e-01 -2.78255045e-03 9.87039752e-01 -4.53592822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.17, Y:-81.06, Z:-45.36 [[ 9.10748076e-01 3.84784445e-01 1.49929560e-01 2.61171651e+02] [-3.80184841e-01 9.23001867e-01 -5.93888811e-02 -8.10567031e+01] [-1.61237181e-01 -2.91263658e-03 9.86911388e-01 -4.53637243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:261.20, Y:-81.07, Z:-45.37 [[ 9.10633507e-01 3.84967522e-01 1.50155331e-01 2.61198649e+02] [-3.80357094e-01 9.22925395e-01 -5.94743296e-02 -8.10652214e+01] [-1.61477854e-01 -2.95332807e-03 9.86871917e-01 -4.53685781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.23, Y:-81.07, Z:-45.37 [[ 9.10465104e-01 3.84988764e-01 1.51118981e-01 2.61227421e+02] [-3.80319932e-01 9.22916441e-01 -5.98497493e-02 -8.10733256e+01] [-1.62511673e-01 -2.98245223e-03 9.86702114e-01 -4.53731597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:261.25, Y:-81.08, Z:-45.38 [[ 9.10473592e-01 3.84768221e-01 1.51628673e-01 2.61254784e+02] [-3.80065295e-01 9.23008489e-01 -6.00474791e-02 -8.10827231e+01] [-1.63058914e-01 -2.95715254e-03 9.86611902e-01 -4.53779333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:261.28, Y:-81.09, Z:-45.38 [[ 9.10417287e-01 3.84693574e-01 1.52155243e-01 2.61283169e+02] [-3.79957382e-01 9.23039600e-01 -6.02518455e-02 -8.10916029e+01] [-1.63623813e-01 -2.95818609e-03 9.86518371e-01 -4.53815719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.31, Y:-81.10, Z:-45.39 [[ 9.10522300e-01 3.84556558e-01 1.51872955e-01 2.61311973e+02] [-3.79836890e-01 9.23096775e-01 -6.01355275e-02 -8.11020396e+01] [-1.63318946e-01 -2.93221192e-03 9.86568966e-01 -4.53880676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.34, Y:-81.11, Z:-45.39 [[ 9.10504185e-01 3.84721018e-01 1.51564731e-01 2.61339565e+02] [-3.80022122e-01 9.23028184e-01 -6.00179923e-02 -8.11119325e+01] [-1.62988701e-01 -2.95131734e-03 9.86623521e-01 -4.53929217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.37, Y:-81.12, Z:-45.40 [[ 9.10513283e-01 3.84827810e-01 1.51238614e-01 2.61366821e+02] [-3.80150997e-01 9.22983620e-01 -5.98870379e-02 -8.11191448e+01] [-1.62636961e-01 -2.96556625e-03 9.86681521e-01 -4.53985008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.39, Y:-81.13, Z:-45.40 [[ 9.10618586e-01 3.84711608e-01 1.50899866e-01 2.61393831e+02] [-3.80055630e-01 9.23032124e-01 -5.97445983e-02 -8.11275854e+01] [-1.62269864e-01 -2.94580205e-03 9.86742020e-01 -4.54037123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.42, Y:-81.14, Z:-45.41 [[ 9.10789999e-01 3.84400977e-01 1.50656781e-01 2.61422898e+02] [-3.79757285e-01 9.23161695e-01 -5.96396691e-02 -8.11352051e+01] [-1.62006116e-01 -2.89379594e-03 9.86785511e-01 -4.54086921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78587156000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.45, Y:-81.14, Z:-45.41 [[ 9.10963730e-01 3.84018842e-01 1.50580914e-01 2.61449969e+02] [-3.79374616e-01 9.23320937e-01 -5.96099559e-02 -8.11440049e+01] [-1.61925857e-01 -2.82406870e-03 9.86798886e-01 -4.54135753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.48, Y:-81.15, Z:-45.42 [[ 9.11393318e-01 3.82781480e-01 1.51130930e-01 2.61477775e+02] [-3.78087190e-01 9.23835199e-01 -5.98214120e-02 -8.11513036e+01] [-1.62518601e-01 -2.61983354e-03 9.86702002e-01 -4.54178866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.50, Y:-81.16, Z:-45.42 [[ 9.11633928e-01 3.82059301e-01 1.51506672e-01 2.61503787e+02] [-3.77332973e-01 9.24134413e-01 -5.99617645e-02 -8.11600177e+01] [-1.62921480e-01 -2.50528422e-03 9.86635857e-01 -4.54227196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.53, Y:-81.17, Z:-45.43 [[ 9.11942212e-01 3.81281451e-01 1.51610874e-01 2.61530499e+02] [-3.76539660e-01 9.24455948e-01 -5.99923710e-02 -8.11691067e+01] [-1.63031553e-01 -2.37793158e-03 9.86617990e-01 -4.54274015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.56, Y:-81.18, Z:-45.43 [[ 9.12545521e-01 3.79747261e-01 1.51831124e-01 2.61557768e+02] [-3.74971892e-01 9.25087858e-01 -6.00710833e-02 -8.11760588e+01] [-1.63268959e-01 -2.11480586e-03 9.86579330e-01 -4.54322369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.58, Y:-81.18, Z:-45.44 [[ 9.12773957e-01 3.79158182e-01 1.51930172e-01 2.61584507e+02] [-3.74370360e-01 9.25329663e-01 -6.00986489e-02 -8.11845519e+01] [-1.63372390e-01 -2.02167179e-03 9.86562403e-01 -4.54370229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.61, Y:-81.19, Z:-45.44 [[ 9.13233207e-01 3.77925436e-01 1.52241499e-01 2.61613114e+02] [-3.73102253e-01 9.25834261e-01 -6.02132136e-02 -8.11925497e+01] [-1.63706501e-01 -1.81294016e-03 9.86507423e-01 -4.54417306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.64, Y:-81.20, Z:-45.45 [[ 9.13454614e-01 3.77282651e-01 1.52507274e-01 2.61639805e+02] [-3.72434319e-01 9.26096590e-01 -6.03140422e-02 -8.12021576e+01] [-1.63991909e-01 -1.70480266e-03 9.86460211e-01 -4.54466147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.67, Y:-81.21, Z:-45.45 [[ 9.14423535e-01 3.74958658e-01 1.52432288e-01 2.61667881e+02] [-3.70084123e-01 9.27040631e-01 -6.02777731e-02 -8.12113802e+01] [-1.63912597e-01 -1.29335530e-03 9.86474018e-01 -4.54515503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.69, Y:-81.22, Z:-45.46 [[ 9.15076911e-01 3.73401652e-01 1.52333361e-01 2.61694487e+02] [-3.68512749e-01 9.27669214e-01 -6.02344024e-02 -8.12209434e+01] [-1.63806595e-01 -1.01767492e-03 9.86491948e-01 -4.54568671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.72, Y:-81.23, Z:-45.46 [[ 9.15799326e-01 3.71574624e-01 1.52459479e-01 2.61721487e+02] [-3.66653469e-01 9.28402829e-01 -6.02778657e-02 -8.12308371e+01] [-1.63941537e-01 -6.97368041e-04 9.86469810e-01 -4.54624339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.75, Y:-81.24, Z:-45.47 [[ 9.17456100e-01 3.67668755e-01 1.51967072e-01 2.61749155e+02] [-3.62727697e-01 9.29956820e-01 -6.00743854e-02 -8.12415028e+01] [-1.63410289e-01 -7.05452847e-06 9.86558198e-01 -4.54672990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14587156 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:261.78, Y:-81.25, Z:-45.47 [[ 9.18174586e-01 3.65963017e-01 1.51744852e-01 2.61775821e+02] [-3.61013296e-01 9.30629347e-01 -5.99868134e-02 -8.12524481e+01] [-1.63171168e-01 2.96458355e-04 9.86597731e-01 -4.54705546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.80, Y:-81.26, Z:-45.48 [[ 9.19548294e-01 3.62632102e-01 1.51422898e-01 2.61803124e+02] [-3.57659685e-01 9.31931963e-01 -5.98528630e-02 -8.12641276e+01] [-1.62820408e-01 8.79731923e-04 9.86655330e-01 -4.54777254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.83, Y:-81.28, Z:-45.48 [[ 9.20038238e-01 3.61560044e-01 1.51009854e-01 2.61831238e+02] [-3.56600586e-01 9.32348217e-01 -5.96893956e-02 -8.12757671e+01] [-1.62375068e-01 1.06632395e-03 9.86728534e-01 -4.54836195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:-81.29, Z:-45.49 [[ 9.20414061e-01 3.60697204e-01 1.50782901e-01 2.61859020e+02] [-3.55740526e-01 9.32682174e-01 -5.96040386e-02 -8.12878954e+01] [-1.62131534e-01 1.22080689e-03 9.86768400e-01 -4.54890151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.89, Y:-81.30, Z:-45.49 [[ 9.20744967e-01 3.59796651e-01 1.50914135e-01 2.61885828e+02] [-3.54818864e-01 9.33029719e-01 -5.96583309e-02 -8.12999428e+01] [-1.62272241e-01 1.38292588e-03 9.86745057e-01 -4.54941851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.91, Y:-81.31, Z:-45.50 [[ 9.21105876e-01 3.58963767e-01 1.50694990e-01 2.61912956e+02] [-3.53990156e-01 9.33350252e-01 -5.95674027e-02 -8.13137178e+01] [-1.62033746e-01 1.52334170e-03 9.86784042e-01 -4.54988779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.94, Y:-81.33, Z:-45.50 [[ 9.20940889e-01 3.59345953e-01 1.50792453e-01 2.61939208e+02] [-3.54370934e-01 9.33203280e-01 -5.96060300e-02 -8.13270319e+01] [-1.62139198e-01 1.45716781e-03 9.86766820e-01 -4.55039423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.97, Y:-81.34, Z:-45.51 [[ 9.20726647e-01 3.59934557e-01 1.50696899e-01 2.61968705e+02] [-3.54974349e-01 9.32976578e-01 -5.95643951e-02 -8.13403390e+01] [-1.62035961e-01 1.34899229e-03 9.86783932e-01 -4.55094573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.00, Y:-81.35, Z:-45.51 [[ 9.20401547e-01 3.60810622e-01 1.50587804e-01 2.61997652e+02] [-3.55863672e-01 9.32638296e-01 -5.95554854e-02 -8.13538289e+01] [-1.61932205e-01 1.22623197e-03 9.86801124e-01 -4.55148255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.03, Y:-81.37, Z:-45.52 [[ 9.20151275e-01 3.61530998e-01 1.50389391e-01 2.62025505e+02] [-3.56601259e-01 9.32359406e-01 -5.95103388e-02 -8.13666447e+01] [-1.61731796e-01 1.12946776e-03 9.86834105e-01 -4.55204239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.05, Y:-81.38, Z:-45.53 [[ 9.19315158e-01 3.63653985e-01 1.50384240e-01 2.62054226e+02] [-3.58752348e-01 9.31533791e-01 -5.95109114e-02 -8.13815225e+01] [-1.61729382e-01 7.58583446e-04 9.86834855e-01 -4.55257907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.08, Y:-81.40, Z:-45.53 [[ 9.18053215e-01 3.66770769e-01 1.50524078e-01 2.62082133e+02] [-3.61895748e-01 9.30311315e-01 -5.96013755e-02 -8.13966154e+01] [-1.61894296e-01 2.43210467e-04 9.86808076e-01 -4.55312677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.11, Y:-81.41, Z:-45.54 [[ 9.17364332e-01 3.68537632e-01 1.50408433e-01 2.62111588e+02] [-3.63690325e-01 9.29612829e-01 -5.95763014e-02 -8.14107524e+01] [-1.61777718e-01 -4.89179042e-05 9.86827223e-01 -4.55365590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.14, Y:-81.42, Z:-45.54 [[ 9.16495557e-01 3.70632000e-01 1.50558343e-01 2.62139567e+02] [-3.65797358e-01 9.28779721e-01 -5.96701072e-02 -8.14237595e+01] [-1.61951187e-01 -3.86455932e-04 9.86798695e-01 -4.55414641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:262.17, Y:-81.44, Z:-45.55 [[ 9.14733758e-01 3.74724590e-01 1.51141103e-01 2.62166365e+02] [-3.69902790e-01 9.27135535e-01 -5.99301795e-02 -8.14360107e+01] [-1.62585599e-01 -1.08735727e-03 9.86693843e-01 -4.55462304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.19, Y:-81.45, Z:-45.55 [[ 9.13748557e-01 3.77048179e-01 1.51321658e-01 2.62194708e+02] [-3.72246783e-01 9.26192424e-01 -5.99993838e-02 -8.14484163e+01] [-1.62775632e-01 -1.50465007e-03 9.86661963e-01 -4.55517381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:262.22, Y:-81.46, Z:-45.56 [[ 9.12843475e-01 3.79161603e-01 1.51503362e-01 2.62221183e+02] [-3.74376724e-01 9.25328562e-01 -6.00759658e-02 -8.14597427e+01] [-1.62968887e-01 -1.87937888e-03 9.86629419e-01 -4.55562995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:-81.47, Z:-45.56 [[ 9.11285384e-01 3.82935205e-01 1.51392132e-01 2.62246420e+02] [-3.78209302e-01 9.23771676e-01 -6.00301143e-02 -8.14707015e+01] [-1.62839408e-01 -2.55334673e-03 9.86649283e-01 -4.55613729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:262.27, Y:-81.48, Z:-45.57 [[ 9.10635599e-01 3.84647358e-01 1.50960977e-01 2.62273797e+02] [-3.79973620e-01 9.23059166e-01 -5.98483440e-02 -8.14822439e+01] [-1.62366421e-01 -2.86115648e-03 9.86726385e-01 -4.55666843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.30, Y:-81.49, Z:-45.57 [[ 9.09563185e-01 3.87346453e-01 1.50524209e-01 2.62300373e+02] [-3.82736516e-01 9.21928207e-01 -5.96752944e-02 -8.14933006e+01] [-1.61887528e-01 -3.33266044e-03 9.86803588e-01 -4.55714665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:262.33, Y:-81.50, Z:-45.58 [[ 9.09073596e-01 3.88464075e-01 1.50601659e-01 2.62327486e+02] [-3.83864876e-01 9.21457088e-01 -5.97042048e-02 -8.15035182e+01] [-1.61965905e-01 -3.53517112e-03 9.86790022e-01 -4.55750685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.35, Y:-81.51, Z:-45.58 [[ 9.08709903e-01 3.89289774e-01 1.50664473e-01 2.62353098e+02] [-3.84699318e-01 9.21107944e-01 -5.97209335e-02 -8.15112206e+01] [-1.62026992e-01 -3.69151644e-03 9.86779421e-01 -4.55817174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:262.38, Y:-81.52, Z:-45.58 [[ 9.08690022e-01 3.89299596e-01 1.50758972e-01 2.62380120e+02] [-3.84705332e-01 9.21103734e-01 -5.97471252e-02 -8.15216396e+01] [-1.62124184e-01 -3.70616388e-03 9.86763403e-01 -4.55846781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:262.41, Y:-81.53, Z:-45.59 [[ 9.08703696e-01 3.89266565e-01 1.50761844e-01 2.62407021e+02] [-3.84673051e-01 9.21117686e-01 -5.97398785e-02 -8.15322146e+01] [-1.62124138e-01 -3.70816992e-03 9.86763403e-01 -4.55896684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.43, Y:-81.54, Z:-45.60 [[ 9.09006567e-01 3.88494973e-01 1.50926198e-01 2.62432107e+02] [-3.83881808e-01 9.21443888e-01 -5.97989927e-02 -8.15421908e+01] [-1.62301631e-01 -3.58014458e-03 9.86734698e-01 -4.55956563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:262.46, Y:-81.55, Z:-45.60 [[ 9.09437135e-01 3.87059765e-01 1.52015908e-01 2.62458672e+02] [-3.82361170e-01 9.22048512e-01 -6.02202301e-02 -8.15531318e+01] [-1.63474870e-01 -3.35846694e-03 9.86541782e-01 -4.55984064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.48, Y:-81.56, Z:-45.60 [[ 9.09807641e-01 3.86020769e-01 1.52440225e-01 2.62484541e+02] [-3.81282633e-01 9.22484579e-01 -6.03800907e-02 -8.15620523e+01] [-1.63931726e-01 -3.18854252e-03 9.86466534e-01 -4.56044394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.51, Y:-81.57, Z:-45.61 [[ 9.10300458e-01 3.84831221e-01 1.52505759e-01 2.62510775e+02] [-3.80074128e-01 9.22982134e-01 -6.03956817e-02 -8.15701719e+01] [-1.64002235e-01 -2.98527668e-03 9.86455450e-01 -4.56093890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.54, Y:-81.58, Z:-45.61 [[ 9.10586935e-01 3.84247269e-01 1.52267760e-01 2.62537778e+02] [-3.79498698e-01 9.23225711e-01 -6.02911723e-02 -8.15794232e+01] [-1.63744229e-01 -2.88506272e-03 9.86498608e-01 -4.56138480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.56, Y:-81.59, Z:-45.62 [[ 9.10850798e-01 3.83664372e-01 1.52159371e-01 2.62563310e+02] [-3.78915858e-01 9.23468402e-01 -6.02402107e-02 -8.15880096e+01] [-1.63626394e-01 -2.78575461e-03 9.86518445e-01 -4.56188331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:-81.60, Z:-45.62 [[ 9.11612009e-01 3.82225065e-01 1.51220187e-01 2.62589960e+02] [-3.77517333e-01 9.24065823e-01 -5.98583097e-02 -8.15975548e+01] [-1.62616753e-01 -2.52068760e-03 9.86686089e-01 -4.56244193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.62, Y:-81.61, Z:-45.63 [[ 9.11925085e-01 3.81561913e-01 1.51007108e-01 2.62615443e+02] [-3.76859794e-01 9.24340152e-01 -5.97660371e-02 -8.16071645e+01] [-1.62386376e-01 -2.40635911e-03 9.86724315e-01 -4.56291757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.64, Y:-81.62, Z:-45.63 [[ 9.12232592e-01 3.80782755e-01 1.51116483e-01 2.62641223e+02] [-3.76064796e-01 9.24661723e-01 -5.97993979e-02 -8.16158862e+01] [-1.62502207e-01 -2.27862958e-03 9.86705549e-01 -4.56339256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13587156 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:262.67, Y:-81.62, Z:-45.64 [[ 9.12659956e-01 3.79827183e-01 1.50940768e-01 2.62667045e+02] [-3.75109222e-01 9.25055041e-01 -5.97180224e-02 -8.16247610e+01] [-1.62311046e-01 -2.11702624e-03 9.86737373e-01 -4.56363862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.69, Y:-81.63, Z:-45.64 [[ 9.13614575e-01 3.77474861e-01 1.51066664e-01 2.62692250e+02] [-3.72719308e-01 9.26018247e-01 -5.97538655e-02 -8.16341983e+01] [-1.62446070e-01 -1.71346008e-03 9.86715936e-01 -4.56426213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.72, Y:-81.64, Z:-45.65 [[ 9.14071837e-01 3.76361777e-01 1.51077759e-01 2.62718505e+02] [-3.71592368e-01 9.26471522e-01 -5.97463803e-02 -8.16440871e+01] [-1.62455495e-01 -1.52685853e-03 9.86714691e-01 -4.56471862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.74, Y:-81.65, Z:-45.65 [[ 9.14545117e-01 3.75389067e-01 1.50632921e-01 2.62743862e+02] [-3.70636679e-01 9.26866331e-01 -5.95588420e-02 -8.16523331e+01] [-1.61974321e-01 -1.36083764e-03 9.86794035e-01 -4.56500983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.77, Y:-81.66, Z:-45.66 [[ 9.14530395e-01 3.75407662e-01 1.50675956e-01 2.62772436e+02] [-3.70655188e-01 9.26858774e-01 -5.95612624e-02 -8.16632729e+01] [-1.62015086e-01 -1.37823985e-03 9.86787319e-01 -4.56572149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:-81.67, Z:-45.66 [[ 9.14466998e-01 3.75634820e-01 1.50494490e-01 2.62799722e+02] [-3.70896193e-01 9.26766684e-01 -5.94939291e-02 -8.16740670e+01] [-1.61821271e-01 -1.41259868e-03 9.86819072e-01 -4.56626046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.83, Y:-81.68, Z:-45.67 [[ 9.14191151e-01 3.76652832e-01 1.49623476e-01 2.62826190e+02] [-3.71982310e-01 9.26353143e-01 -5.91524744e-02 -8.16825824e+01] [-1.60884124e-01 -1.58061746e-03 9.86972036e-01 -4.56682801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.85, Y:-81.69, Z:-45.67 [[ 9.13973267e-01 3.77384817e-01 1.49109247e-01 2.62853300e+02] [-3.72757208e-01 9.26054954e-01 -5.89430683e-02 -8.16921628e+01] [-1.60327576e-01 -1.70915777e-03 9.87062383e-01 -4.56735358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.88, Y:-81.70, Z:-45.68 [[ 9.13879786e-01 3.77799817e-01 1.48630529e-01 2.62880073e+02] [-3.73208824e-01 9.25885585e-01 -5.87456995e-02 -8.17012905e+01] [-1.59808979e-01 -1.78371758e-03 9.87146346e-01 -4.56784229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40587156 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:262.91, Y:-81.71, Z:-45.68 [[ 9.13583006e-01 3.78704845e-01 1.48151043e-01 2.62906620e+02] [-3.74156727e-01 9.25515459e-01 -5.85480941e-02 -8.17101293e+01] [-1.59288527e-01 -1.94316553e-03 9.87230160e-01 -4.56814364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:-81.72, Z:-45.69 [[ 9.13602635e-01 3.78691783e-01 1.48063361e-01 2.62933120e+02] [-3.74150584e-01 9.25520790e-01 -5.85030533e-02 -8.17197395e+01] [-1.59190344e-01 -1.94944922e-03 9.87245985e-01 -4.56882919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.96, Y:-81.73, Z:-45.69 [[ 9.13603386e-01 3.78627338e-01 1.48223456e-01 2.62960353e+02] [-3.74076736e-01 9.25547159e-01 -5.85581029e-02 -8.17290849e+01] [-1.59359497e-01 -1.94806564e-03 9.87218697e-01 -4.56934185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.99, Y:-81.74, Z:-45.70 [[ 9.13508435e-01 3.78841838e-01 1.48260583e-01 2.62986695e+02] [-3.74293044e-01 9.25459285e-01 -5.85647443e-02 -8.17364763e+01] [-1.59395908e-01 -1.99351688e-03 9.87212728e-01 -4.56974171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.01, Y:-81.74, Z:-45.70 [[ 9.13539240e-01 3.78712236e-01 1.48401815e-01 2.63012810e+02] [-3.74154693e-01 9.25512351e-01 -5.86101852e-02 -8.17449854e+01] [-1.59544107e-01 -1.98253142e-03 9.87188811e-01 -4.57025839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.04, Y:-81.75, Z:-45.71 [[ 9.13625862e-01 3.78448360e-01 1.48541653e-01 2.63038893e+02] [-3.73880594e-01 9.25620354e-01 -5.86537472e-02 -8.17533484e+01] [-1.59690592e-01 -1.94926119e-03 9.87165191e-01 -4.57074070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.06, Y:-81.76, Z:-45.71 [[ 9.14035958e-01 3.77402951e-01 1.48678447e-01 2.63064424e+02] [-3.72816253e-01 9.26047417e-01 -5.86875042e-02 -8.17611706e+01] [-1.59832129e-01 -1.78725235e-03 9.87142592e-01 -4.57122041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.09, Y:-81.77, Z:-45.72 [[ 9.14313352e-01 3.76747628e-01 1.48634850e-01 2.63090366e+02] [-3.72158147e-01 9.26314400e-01 -5.86510495e-02 -8.17710100e+01] [-1.59779246e-01 -1.69023289e-03 9.87151324e-01 -4.57173442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.12, Y:-81.78, Z:-45.72 [[ 9.15092365e-01 3.74985469e-01 1.48296532e-01 2.63116085e+02] [-3.70395887e-01 9.27029646e-01 -5.85057396e-02 -8.17789983e+01] [-1.59414084e-01 -1.39026985e-03 9.87210827e-01 -4.57223116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.14, Y:-81.79, Z:-45.73 [[ 9.15469802e-01 3.74174327e-01 1.48015589e-01 2.63142089e+02] [-3.69593944e-01 9.27357529e-01 -5.83809066e-02 -8.17883838e+01] [-1.59108007e-01 -1.25970842e-03 9.87260379e-01 -4.57271850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.17, Y:-81.80, Z:-45.73 [[ 9.15665704e-01 3.73609552e-01 1.48230300e-01 2.63167457e+02] [-3.69010328e-01 9.27585319e-01 -5.84538651e-02 -8.17978631e+01] [-1.59335172e-01 -1.17431207e-03 9.87223847e-01 -4.57318927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.19, Y:-81.81, Z:-45.74 [[ 9.15833371e-01 3.73114460e-01 1.48441354e-01 2.63192077e+02] [-3.68497812e-01 9.27784664e-01 -5.85233234e-02 -8.18069408e+01] [-1.59557510e-01 -1.10270163e-03 9.87188019e-01 -4.57360634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.22, Y:-81.82, Z:-45.74 [[ 9.16086148e-01 3.72480352e-01 1.48474096e-01 2.63217176e+02] [-3.67855516e-01 9.28039535e-01 -5.85229986e-02 -8.18160386e+01] [-1.59588498e-01 -1.00490675e-03 9.87183115e-01 -4.57408070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.24, Y:-81.83, Z:-45.75 [[ 9.16151474e-01 3.72317641e-01 1.48479126e-01 2.63242533e+02] [-3.67693718e-01 9.28104834e-01 -5.85042534e-02 -8.18262205e+01] [-1.59586360e-01 -9.96083821e-04 9.87183469e-01 -4.57463080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.27, Y:-81.84, Z:-45.75 [[ 9.16251641e-01 3.72407113e-01 1.47634251e-01 2.63267153e+02] [-3.67838961e-01 9.28068914e-01 -5.81600352e-02 -8.18372357e+01] [-1.58673970e-01 -1.01640179e-03 9.87330511e-01 -4.57512038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.29, Y:-81.85, Z:-45.76 [[ 9.16241360e-01 3.72612634e-01 1.47178787e-01 2.63292796e+02] [-3.68077584e-01 9.27986368e-01 -5.79671787e-02 -8.18474076e+01] [-1.58179211e-01 -1.06128561e-03 9.87409849e-01 -4.57561745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.32, Y:-81.86, Z:-45.76 [[ 9.16166711e-01 3.72846484e-01 1.47051203e-01 2.63318160e+02] [-3.68324158e-01 9.27892377e-01 -5.79055310e-02 -8.18573369e+01] [-1.58037564e-01 -1.11139073e-03 9.87432475e-01 -4.57610492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.34, Y:-81.87, Z:-45.77 [[ 9.15843562e-01 3.73671952e-01 1.46968850e-01 2.63342858e+02] [-3.69166981e-01 9.27560066e-01 -5.78624514e-02 -8.18661894e+01] [-1.57944011e-01 -1.26309289e-03 9.87447261e-01 -4.57652843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.37, Y:-81.88, Z:-45.77 [[ 9.15577106e-01 3.74372096e-01 1.46847186e-01 2.63368299e+02] [-3.69886985e-01 9.27277502e-01 -5.77931861e-02 -8.18760586e+01] [-1.57804248e-01 -1.40274476e-03 9.87469418e-01 -4.57698971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:-81.89, Z:-45.77 [[ 9.15217394e-01 3.75102795e-01 1.47224366e-01 2.63394482e+02] [-3.70605668e-01 9.26981937e-01 -5.79303684e-02 -8.18856330e+01] [-1.58204171e-01 -1.54330382e-03 9.87405215e-01 -4.57747301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.42, Y:-81.90, Z:-45.78 [[ 9.14056395e-01 3.77811629e-01 1.47510271e-01 2.63421575e+02] [-3.73333752e-01 9.25880265e-01 -5.80314012e-02 -8.18950859e+01] [-1.58501787e-01 -2.02658965e-03 9.87356611e-01 -4.57791341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:-81.91, Z:-45.78 [[ 9.13444448e-01 3.79159111e-01 1.47843191e-01 2.63446796e+02] [-3.74679733e-01 9.25328699e-01 -5.81540813e-02 -8.19051756e+01] [-1.58853197e-01 -2.27332459e-03 9.87299597e-01 -4.57840956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.47, Y:-81.92, Z:-45.79 [[ 9.12808953e-01 3.80543011e-01 1.48212116e-01 2.63472687e+02] [-3.76060710e-01 9.24759763e-01 -5.82899831e-02 -8.19150181e+01] [-1.59242447e-01 -2.52913508e-03 9.87236267e-01 -4.57887712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.50, Y:-81.92, Z:-45.79 [[ 9.11655950e-01 3.82965778e-01 1.49065898e-01 2.63499411e+02] [-3.78468403e-01 9.23757667e-01 -5.85955722e-02 -8.19220258e+01] [-1.60140865e-01 -2.99773039e-03 9.87089620e-01 -4.57928552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.53, Y:-81.93, Z:-45.80 [[ 9.11247431e-01 3.83883201e-01 1.49203910e-01 2.63525851e+02] [-3.79394744e-01 9.23376144e-01 -5.86184690e-02 -8.19309470e+01] [-1.60273976e-01 -3.19124980e-03 9.87067408e-01 -4.57975366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:263.55, Y:-81.94, Z:-45.80 [[ 9.10575883e-01 3.85284837e-01 1.49690200e-01 2.63551212e+02] [-3.80787712e-01 9.22791210e-01 -5.87971237e-02 -8.19403352e+01] [-1.60786441e-01 -3.46094605e-03 9.86983152e-01 -4.57994746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.58, Y:-81.95, Z:-45.81 [[ 9.10340475e-01 3.85669174e-01 1.50131636e-01 2.63577268e+02] [-3.81152915e-01 9.22630296e-01 -5.89558544e-02 -8.19490056e+01] [-1.61253451e-01 -3.55321018e-03 9.86906631e-01 -4.58065995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.60, Y:-81.96, Z:-45.81 [[ 9.10329082e-01 3.85781944e-01 1.49910823e-01 2.63603051e+02] [-3.81282528e-01 9.22583049e-01 -5.88570484e-02 -8.19564953e+01] [-1.61011171e-01 -3.57909487e-03 9.86946094e-01 -4.58111965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.63, Y:-81.96, Z:-45.82 [[ 9.10579287e-01 3.85346821e-01 1.49509828e-01 2.63628430e+02] [-3.80867993e-01 9.22765160e-01 -5.86858771e-02 -8.19637877e+01] [-1.60576877e-01 -3.50536412e-03 9.87017112e-01 -4.58162175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:-81.97, Z:-45.82 [[ 9.10694358e-01 3.85155433e-01 1.49301973e-01 2.63653538e+02] [-3.80689914e-01 9.22845134e-01 -5.85836889e-02 -8.19727318e+01] [-1.60346426e-01 -3.48592057e-03 9.87054645e-01 -4.58209094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.68, Y:-81.98, Z:-45.83 [[ 9.10721133e-01 3.85207299e-01 1.49004548e-01 2.63680914e+02] [-3.80762416e-01 9.22823433e-01 -5.84542114e-02 -8.19787608e+01] [-1.60021877e-01 -3.49984596e-03 9.87107264e-01 -4.58253805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.71, Y:-81.99, Z:-45.83 [[ 9.10655676e-01 3.85398334e-01 1.48910589e-01 2.63707768e+02] [-3.80963549e-01 9.22743505e-01 -5.84054631e-02 -8.19869435e+01] [-1.59915647e-01 -3.54224005e-03 9.87124328e-01 -4.58276903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.73, Y:-81.99, Z:-45.83 [[ 9.10519654e-01 3.85578748e-01 1.49274875e-01 2.63732661e+02] [-3.81126546e-01 9.22667930e-01 -5.85358665e-02 -8.19943478e+01] [-1.60301326e-01 -3.59456056e-03 9.87061581e-01 -4.58346187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.76, Y:-82.00, Z:-45.84 [[ 9.10511423e-01 3.85567719e-01 1.49353553e-01 2.63760089e+02] [-3.81113036e-01 9.22672485e-01 -5.85520222e-02 -8.20014029e+01] [-1.60380183e-01 -3.60830095e-03 9.87048721e-01 -4.58370993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.79, Y:-82.01, Z:-45.84 [[ 9.10774882e-01 3.84858271e-01 1.49576818e-01 2.63785129e+02] [-3.80382662e-01 9.22969046e-01 -5.86273829e-02 -8.20088181e+01] [-1.60618006e-01 -3.50008050e-03 9.87010438e-01 -4.58435406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.81, Y:-82.02, Z:-45.85 [[ 9.10996259e-01 3.84192927e-01 1.49938691e-01 2.63810399e+02] [-3.79690204e-01 9.23246529e-01 -5.87468795e-02 -8.20167997e+01] [-1.61000512e-01 -3.41206486e-03 9.86948425e-01 -4.58483208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.84, Y:-82.02, Z:-45.85 [[ 9.11637610e-01 3.82446117e-01 1.50505267e-01 2.63837401e+02] [-3.77887632e-01 9.23972501e-01 -5.89555245e-02 -8.20227995e+01] [-1.61610039e-01 -3.12800541e-03 9.86849741e-01 -4.58525340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:263.86, Y:-82.03, Z:-45.86 [[ 9.12036588e-01 3.81525262e-01 1.50425186e-01 2.63863979e+02] [-3.76964560e-01 9.24353564e-01 -5.88914993e-02 -8.20317621e+01] [-1.61514652e-01 -2.99376194e-03 9.86865773e-01 -4.58551355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.89, Y:-82.04, Z:-45.86 [[ 9.12509808e-01 3.80275996e-01 1.50718336e-01 2.63888991e+02] [-3.75682402e-01 9.24868849e-01 -5.89944522e-02 -8.20387765e+01] [-1.61828868e-01 -2.78921024e-03 9.86814895e-01 -4.58619554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.92, Y:-82.05, Z:-45.87 [[ 9.12625984e-01 3.80014054e-01 1.50675587e-01 2.63915659e+02] [-3.75423282e-01 9.24976585e-01 -5.89548675e-02 -8.20470555e+01] [-1.61775068e-01 -2.76337942e-03 9.86823789e-01 -4.58668929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.94, Y:-82.05, Z:-45.87 [[ 9.12707735e-01 3.79879450e-01 1.50519745e-01 2.63940690e+02] [-3.75298446e-01 9.25031919e-01 -5.88814529e-02 -8.20547737e+01] [-1.61603423e-01 -2.74826911e-03 9.86851955e-01 -4.58717260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.97, Y:-82.06, Z:-45.88 [[ 9.12824800e-01 3.79658887e-01 1.50366267e-01 2.63967118e+02] [-3.75086697e-01 9.25122549e-01 -5.88067920e-02 -8.20633219e+01] [-1.61433745e-01 -2.72008817e-03 9.86879804e-01 -4.58768630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.99, Y:-82.07, Z:-45.88 [[ 9.13244472e-01 3.78841686e-01 1.49878319e-01 2.63992521e+02] [-3.74290449e-01 9.25457901e-01 -5.86031935e-02 -8.20705817e+01] [-1.60907407e-01 -2.57898062e-03 9.86966137e-01 -4.58822761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.02, Y:-82.08, Z:-45.89 [[ 9.13511660e-01 3.78303642e-01 1.49608828e-01 2.64019280e+02] [-3.73764145e-01 9.25678203e-01 -5.84827171e-02 -8.20792057e+01] [-1.60613856e-01 -2.49377183e-03 9.87014169e-01 -4.58870866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.05, Y:-82.09, Z:-45.89 [[ 9.14262384e-01 3.76503783e-01 1.49563348e-01 2.64045396e+02] [-3.71945126e-01 9.26412496e-01 -5.84526337e-02 -8.20859168e+01] [-1.60564992e-01 -2.18831390e-03 9.87022844e-01 -4.58915366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.07, Y:-82.10, Z:-45.90 [[ 9.14328564e-01 3.76341220e-01 1.49567924e-01 2.64071604e+02] [-3.71782318e-01 9.26478584e-01 -5.84409225e-02 -8.20959548e+01] [-1.60565206e-01 -2.17250467e-03 9.87022844e-01 -4.58963826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.10, Y:-82.11, Z:-45.90 [[ 9.14865489e-01 3.75016998e-01 1.49610792e-01 2.64097507e+02] [-3.70443045e-01 9.27015841e-01 -5.84258669e-02 -8.21050328e+01] [-1.60602267e-01 -1.97046809e-03 9.87017238e-01 -4.59010758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.12, Y:-82.11, Z:-45.91 [[ 9.15429225e-01 3.73617758e-01 1.49663306e-01 2.64123039e+02] [-3.69024060e-01 9.27581130e-01 -5.84336493e-02 -8.21143119e+01] [-1.60656707e-01 -1.73749043e-03 9.87008816e-01 -4.59057254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.15, Y:-82.12, Z:-45.91 [[ 9.16283518e-01 3.71509013e-01 1.49684899e-01 2.64148176e+02] [-3.66887994e-01 9.28428323e-01 -5.84298654e-02 -8.21218923e+01] [-1.60678921e-01 -1.37926950e-03 9.87005766e-01 -4.59101602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.17, Y:-82.13, Z:-45.92 [[ 9.16497022e-01 3.70933045e-01 1.49806159e-01 2.64174393e+02] [-3.66300547e-01 9.28658702e-01 -5.84544723e-02 -8.21301372e+01] [-1.60801488e-01 -1.30072812e-03 9.86985911e-01 -4.59150309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.20, Y:-82.14, Z:-45.92 [[ 9.16526548e-01 3.70835884e-01 1.49866051e-01 2.64200146e+02] [-3.66200375e-01 9.28697512e-01 -5.84655234e-02 -8.21392044e+01] [-1.60861343e-01 -1.29579980e-03 9.86976164e-01 -4.59196651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.23, Y:-82.15, Z:-45.92 [[ 9.16361100e-01 3.71007153e-01 1.50452742e-01 2.64226276e+02] [-3.66339388e-01 9.28629037e-01 -5.86818832e-02 -8.21476349e+01] [-1.61486183e-01 -1.34297033e-03 9.86874059e-01 -4.59239671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.25, Y:-82.16, Z:-45.93 [[ 9.16296585e-01 3.71216906e-01 1.50328228e-01 2.64252035e+02] [-3.66561746e-01 9.28545139e-01 -5.86209108e-02 -8.21560370e+01] [-1.61347618e-01 -1.39043724e-03 9.86896658e-01 -4.59286193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.28, Y:-82.16, Z:-45.93 [[ 9.16415983e-01 3.71373851e-01 1.49208610e-01 2.64278538e+02] [-3.66792616e-01 9.28482334e-01 -5.81698587e-02 -8.21635433e+01] [-1.60140323e-01 -1.42082833e-03 9.87093237e-01 -4.59343405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.30, Y:-82.17, Z:-45.94 [[ 9.16563899e-01 3.70965744e-01 1.49315227e-01 2.64303571e+02] [-3.66374511e-01 9.28645553e-01 -5.81992744e-02 -8.21719272e+01] [-1.60250858e-01 -1.36193938e-03 9.87075381e-01 -4.59390919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.33, Y:-82.18, Z:-45.94 [[ 9.16825216e-01 3.70419761e-01 1.49066173e-01 2.64329222e+02] [-3.65839082e-01 9.28863590e-01 -5.80878491e-02 -8.21812187e+01] [-1.59979028e-01 -1.27782717e-03 9.87119586e-01 -4.59438863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.36, Y:-82.19, Z:-45.95 [[ 9.17469618e-01 3.68916046e-01 1.48830280e-01 2.64355039e+02] [-3.64332251e-01 9.29462156e-01 -5.79837137e-02 -8.21899860e+01] [-1.59723235e-01 -1.02537514e-03 9.87161302e-01 -4.59487126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.38, Y:-82.20, Z:-45.95 [[ 9.17845252e-01 3.67845074e-01 1.49164660e-01 2.64380173e+02] [-3.63228465e-01 9.29886700e-01 -5.81016955e-02 -8.21988942e+01] [-1.60078656e-01 -8.52485280e-04 9.87103894e-01 -4.59531097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.40, Y:-82.21, Z:-45.96 [[ 9.18136471e-01 3.67008228e-01 1.49433536e-01 2.64404693e+02] [-3.62366118e-01 9.30217416e-01 -5.81924088e-02 -8.22081372e+01] [-1.60362770e-01 -7.21077320e-04 9.87057882e-01 -4.59573952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.43, Y:-82.22, Z:-45.96 [[ 9.18621920e-01 3.65682849e-01 1.49699103e-01 2.64430799e+02] [-3.61010324e-01 9.30739379e-01 -5.82731022e-02 -8.22182759e+01] [-1.60640324e-01 -5.11972695e-04 9.87012879e-01 -4.59598399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.46, Y:-82.23, Z:-45.97 [[ 9.18722867e-01 3.65248808e-01 1.50138607e-01 2.64456871e+02] [-3.60544905e-01 9.30909827e-01 -5.84317128e-02 -8.22279530e+01] [-1.61107618e-01 -4.49158868e-04 9.86936743e-01 -4.59662443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.48, Y:-82.24, Z:-45.97 [[ 9.18743693e-01 3.65085625e-01 1.50407820e-01 2.64483031e+02] [-3.60364591e-01 9.30973844e-01 -5.85240380e-02 -8.22375142e+01] [-1.61392032e-01 -4.33061802e-04 9.86890280e-01 -4.59710524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.51, Y:-82.25, Z:-45.98 [[ 9.18799110e-01 3.64979391e-01 1.50327109e-01 2.64507598e+02] [-3.60263972e-01 9.31015501e-01 -5.84808274e-02 -8.22465704e+01] [-1.61301165e-01 -4.25309141e-04 9.86905139e-01 -4.59755458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.53, Y:-82.26, Z:-45.98 [[ 9.18767600e-01 3.65047811e-01 1.50353559e-01 2.64533118e+02] [-3.60335387e-01 9.30988660e-01 -5.84681443e-02 -8.22563341e+01] [-1.61321126e-01 -4.59071127e-04 9.86901861e-01 -4.59802842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.56, Y:-82.27, Z:-45.99 [[ 9.18757493e-01 3.65110926e-01 1.50262040e-01 2.64559144e+02] [-3.60407113e-01 9.30963898e-01 -5.84203170e-02 -8.22662236e+01] [-1.61218430e-01 -4.81403897e-04 9.86918632e-01 -4.59854020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:-82.28, Z:-45.99 [[ 9.18694613e-01 3.65480974e-01 1.49746006e-01 2.64584908e+02] [-3.60816503e-01 9.30818644e-01 -5.82074087e-02 -8.22772064e+01] [-1.60660075e-01 -5.55997583e-04 9.87009641e-01 -4.59899889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.61, Y:-82.29, Z:-45.99 [[ 9.18539549e-01 3.65780282e-01 1.49966274e-01 2.64609732e+02] [-3.61107881e-01 9.30701026e-01 -5.82811924e-02 -8.22877136e+01] [-1.60891876e-01 -6.20423217e-04 9.86971843e-01 -4.59945611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.63, Y:-82.30, Z:-46.00 [[ 9.17837816e-01 3.67196990e-01 1.50798256e-01 2.64633997e+02] [-3.62495060e-01 9.30142768e-01 -5.85812549e-02 -8.22979320e+01] [-1.61774768e-01 -8.95531829e-04 9.86827301e-01 -4.59982641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.66, Y:-82.31, Z:-46.00 [[ 9.17265263e-01 3.68453101e-01 1.51217555e-01 2.64659901e+02] [-3.63744107e-01 9.29645646e-01 -5.87298663e-02 -8.23076320e+01] [-1.62217943e-01 -1.13362816e-03 9.86754303e-01 -4.60026906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.69, Y:-82.32, Z:-46.01 [[ 9.15859629e-01 3.71631948e-01 1.51956692e-01 2.64685131e+02] [-3.66921863e-01 9.28378560e-01 -5.90050468e-02 -8.23164331e+01] [-1.63001495e-01 -1.71589201e-03 9.86624330e-01 -4.60069661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:-82.33, Z:-46.01 [[ 9.15028080e-01 3.73645089e-01 1.52029472e-01 2.64711205e+02] [-3.68961655e-01 9.27569380e-01 -5.90113802e-02 -8.23254837e+01] [-1.63067196e-01 -2.09597575e-03 9.86612739e-01 -4.60112337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.74, Y:-82.33, Z:-46.02 [[ 9.14207870e-01 3.75690828e-01 1.51922257e-01 2.64737713e+02] [-3.71047455e-01 9.26741713e-01 -5.89371060e-02 -8.23338355e+01] [-1.62934823e-01 -2.48960084e-03 9.86633694e-01 -4.60157594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.76, Y:-82.34, Z:-46.02 [[ 9.12693600e-01 3.79538440e-01 1.51462753e-01 2.64763298e+02] [-3.74981236e-01 9.25170445e-01 -5.87258076e-02 -8.23395116e+01] [-1.62417564e-01 -3.19702171e-03 9.86716937e-01 -4.60216163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.79, Y:-82.35, Z:-46.03 [[ 9.12316467e-01 3.80654459e-01 1.50933253e-01 2.64790131e+02] [-3.76147950e-01 9.24711089e-01 -5.84989068e-02 -8.23478089e+01] [-1.61837522e-01 -3.40371759e-03 9.86811548e-01 -4.60266477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.82, Y:-82.35, Z:-46.03 [[ 9.11635674e-01 3.82278983e-01 1.50940971e-01 2.64817912e+02] [-3.77799386e-01 9.24039460e-01 -5.84696606e-02 -8.23533602e+01] [-1.61827135e-01 -3.72237751e-03 9.86812101e-01 -4.60318959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.84, Y:-82.36, Z:-46.04 [[ 9.11513695e-01 3.82552307e-01 1.50985152e-01 2.64844305e+02] [-3.78079053e-01 9.23926013e-01 -5.84547063e-02 -8.23606391e+01] [-1.61861093e-01 -3.80205807e-03 9.86806228e-01 -4.60369392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.87, Y:-82.37, Z:-46.04 [[ 9.11649296e-01 3.82317100e-01 1.50762049e-01 2.64870689e+02] [-3.77859173e-01 9.24023437e-01 -5.83363776e-02 -8.23681640e+01] [-1.61610662e-01 -3.78450566e-03 9.86847340e-01 -4.60418392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.90, Y:-82.38, Z:-46.05 [[ 9.11829736e-01 3.81888265e-01 1.50757706e-01 2.64896277e+02] [-3.77430150e-01 9.24200937e-01 -5.83018851e-02 -8.23760841e+01] [-1.61595219e-01 -3.73911116e-03 9.86850041e-01 -4.60467050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.92, Y:-82.38, Z:-46.05 [[ 9.12823451e-01 3.79405415e-01 1.51012840e-01 2.64923488e+02] [-3.74900486e-01 9.25224582e-01 -5.83874892e-02 -8.23819735e+01] [-1.61873321e-01 -3.31731781e-03 9.86805970e-01 -4.60514919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.95, Y:-82.39, Z:-46.06 [[ 9.13647481e-01 3.77363826e-01 1.51145044e-01 2.64949987e+02] [-3.72828316e-01 9.26060267e-01 -5.84074332e-02 -8.23895641e+01] [-1.62010273e-01 -2.98734800e-03 9.86784550e-01 -4.60564651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.98, Y:-82.40, Z:-46.06 [[ 9.15695870e-01 3.72233537e-01 1.51470354e-01 2.64976884e+02] [-3.67613673e-01 9.28136698e-01 -5.85017715e-02 -8.23957396e+01] [-1.62361516e-01 -2.11274272e-03 9.86729079e-01 -4.60613288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.00, Y:-82.40, Z:-46.07 [[ 9.16916386e-01 3.69066051e-01 1.51837383e-01 2.65001946e+02] [-3.64386109e-01 9.29401813e-01 -5.86091645e-02 -8.24040998e+01] [-1.62748591e-01 -1.58772975e-03 9.86666294e-01 -4.60663424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.03, Y:-82.41, Z:-46.07 [[ 9.19562144e-01 3.62166973e-01 1.52448508e-01 2.65028404e+02] [-3.57356924e-01 9.32113158e-01 -5.88310257e-02 -8.24124995e+01] [-1.63405915e-01 -3.79745853e-04 9.86558849e-01 -4.60711345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89587156 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:265.05, Y:-82.42, Z:-46.07 [[ 9.20848264e-01 3.58884712e-01 1.52447491e-01 2.65054613e+02] [-3.54035104e-01 9.33381880e-01 -5.87997609e-02 -8.24212326e+01] [-1.63394061e-01 1.73894489e-04 9.86560870e-01 -4.60737452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.08, Y:-82.43, Z:-46.08 [[ 9.21987197e-01 3.56028423e-01 1.52260863e-01 2.65080418e+02] [-3.51157067e-01 9.34474900e-01 -5.86973216e-02 -8.24293658e+01] [-1.63181870e-01 6.50700962e-04 9.86595791e-01 -4.60797458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.11, Y:-82.44, Z:-46.08 [[ 9.23429691e-01 3.52337183e-01 1.52105610e-01 2.65105844e+02] [-3.47431527e-01 9.35872265e-01 -5.86040828e-02 -8.24361841e+01] [-1.62999819e-01 1.27046578e-03 9.86625281e-01 -4.60842327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.13, Y:-82.45, Z:-46.09 [[ 9.23904622e-01 3.51230507e-01 1.51780697e-01 2.65131195e+02] [-3.46333422e-01 9.36287900e-01 -5.84647749e-02 -8.24451120e+01] [-1.62645043e-01 1.44914755e-03 9.86683582e-01 -4.60889185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.16, Y:-82.45, Z:-46.09 [[ 9.24319278e-01 3.50111918e-01 1.51840430e-01 2.65157416e+02] [-3.45197973e-01 9.36706449e-01 -5.84755347e-02 -8.24545427e+01] [-1.62702892e-01 1.63505529e-03 9.86673753e-01 -4.60940153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:-82.46, Z:-46.10 [[ 9.24905859e-01 3.48356478e-01 1.52305336e-01 2.65182161e+02] [-3.43393978e-01 9.37360167e-01 -5.86216145e-02 -8.24640009e+01] [-1.63186175e-01 1.91873954e-03 9.86593427e-01 -4.60990599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.21, Y:-82.47, Z:-46.10 [[ 9.25362512e-01 3.47178072e-01 1.52222229e-01 2.65207668e+02] [-3.42207384e-01 9.37796845e-01 -5.85763079e-02 -8.24737243e+01] [-1.63089936e-01 2.11274876e-03 9.86608944e-01 -4.61037412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.23, Y:-82.48, Z:-46.11 [[ 9.26014338e-01 3.45459680e-01 1.52167850e-01 2.65233506e+02] [-3.40474414e-01 9.38430559e-01 -5.85257084e-02 -8.24835131e+01] [-1.63017233e-01 2.38638552e-03 9.86620336e-01 -4.61087265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.26, Y:-82.50, Z:-46.11 [[ 9.27473440e-01 3.41641199e-01 1.51902300e-01 2.65258653e+02] [-3.36627483e-01 9.39825594e-01 -5.83934094e-02 -8.24953701e+01] [-1.62711264e-01 3.02384734e-03 9.86669094e-01 -4.61140861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.28, Y:-82.51, Z:-46.12 [[ 9.28313124e-01 3.39412058e-01 1.51770216e-01 2.65283734e+02] [-3.34379439e-01 9.40631645e-01 -5.83309529e-02 -8.25063853e+01] [-1.62558096e-01 3.40054954e-03 9.86693114e-01 -4.61191642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.31, Y:-82.52, Z:-46.12 [[ 9.29045569e-01 3.37443982e-01 1.51676926e-01 2.65308890e+02] [-3.32393439e-01 9.41338215e-01 -5.82835090e-02 -8.25179678e+01] [-1.62446706e-01 3.73162057e-03 9.86710263e-01 -4.61240933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.33, Y:-82.53, Z:-46.13 [[ 9.30247481e-01 3.34129315e-01 1.51648358e-01 2.65333309e+02] [-3.29038809e-01 9.42517438e-01 -5.82609827e-02 -8.25316635e+01] [-1.62397924e-01 4.29893727e-03 9.86715984e-01 -4.61288983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.36, Y:-82.54, Z:-46.13 [[ 9.30632902e-01 3.33055513e-01 1.51645727e-01 2.65356942e+02] [-3.27952974e-01 9.42896601e-01 -5.82481472e-02 -8.25431762e+01] [-1.62386107e-01 4.47497526e-03 9.86717146e-01 -4.61333756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.38, Y:-82.56, Z:-46.14 [[ 9.31032828e-01 3.31918046e-01 1.51684817e-01 2.65382056e+02] [-3.26800197e-01 9.43296711e-01 -5.82490037e-02 -8.25575518e+01] [-1.62417684e-01 4.66110665e-03 9.86711087e-01 -4.61380314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.41, Y:-82.57, Z:-46.14 [[ 9.30945801e-01 3.32015172e-01 1.52006057e-01 2.65406206e+02] [-3.26877738e-01 9.43262592e-01 -5.83663226e-02 -8.25700071e+01] [-1.62760132e-01 4.64848697e-03 9.86654717e-01 -4.61426658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:-82.58, Z:-46.15 [[ 9.30894431e-01 3.32211795e-01 1.51891023e-01 2.65431832e+02] [-3.27086511e-01 9.43193595e-01 -5.83117129e-02 -8.25829754e+01] [-1.62634479e-01 4.60054413e-03 9.86675662e-01 -4.61479838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.45, Y:-82.60, Z:-46.15 [[ 9.30480068e-01 3.33578764e-01 1.51433322e-01 2.65454881e+02] [-3.28503853e-01 9.42712241e-01 -5.81278750e-02 -8.25998201e+01] [-1.62148271e-01 4.34039930e-03 9.86756859e-01 -4.61529908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.48, Y:-82.61, Z:-46.16 [[ 9.30061873e-01 3.34645332e-01 1.51648982e-01 2.65480257e+02] [-3.29571623e-01 9.42335011e-01 -5.82002712e-02 -8.26128034e+01] [-1.62380594e-01 4.15065211e-03 9.86719471e-01 -4.61575725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43587156 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:265.51, Y:-82.63, Z:-46.16 [[ 9.29500197e-01 3.36144549e-01 1.51776893e-01 2.65505380e+02] [-3.31083412e-01 9.41802397e-01 -5.82410507e-02 -8.26256877e+01] [-1.62521254e-01 3.88425648e-03 9.86697398e-01 -4.61607629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:265.53, Y:-82.64, Z:-46.17 [[ 9.28491107e-01 3.39059865e-01 1.51468385e-01 2.65529695e+02] [-3.34059638e-01 9.40758809e-01 -5.81121404e-02 -8.26415439e+01] [-1.62198712e-01 3.35713169e-03 9.86752404e-01 -4.61660602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.56, Y:-82.65, Z:-46.17 [[ 9.28021499e-01 3.40544045e-01 1.51016060e-01 2.65555887e+02] [-3.35594741e-01 9.40223519e-01 -5.79301685e-02 -8.26547510e+01] [-1.61716625e-01 3.08024638e-03 9.86832430e-01 -4.61724575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:265.58, Y:-82.67, Z:-46.18 [[ 9.26569594e-01 3.44068743e-01 1.51939089e-01 2.65580630e+02] [-3.39105984e-01 9.38941193e-01 -5.82800806e-02 -8.26697754e+01] [-1.62714224e-01 2.47709637e-03 9.86670130e-01 -4.61757523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.61, Y:-82.68, Z:-46.18 [[ 9.25998998e-01 3.45496010e-01 1.52178718e-01 2.65605159e+02] [-3.40537613e-01 9.38417583e-01 -5.83658659e-02 -8.26820039e+01] [-1.62972359e-01 2.22415598e-03 9.86628128e-01 -4.61814442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.63, Y:-82.69, Z:-46.19 [[ 9.25512807e-01 3.46678580e-01 1.52446735e-01 2.65630204e+02] [-3.41720211e-01 9.37981835e-01 -5.84583136e-02 -8.26948307e+01] [-1.63258513e-01 2.00978739e-03 9.86581278e-01 -4.61866853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.65, Y:-82.71, Z:-46.19 [[ 9.24681970e-01 3.48702847e-01 1.52871120e-01 2.65654533e+02] [-3.43745461e-01 9.37231884e-01 -5.86127462e-02 -8.27115650e+01] [-1.63714119e-01 1.64939599e-03 9.86506445e-01 -4.61915126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.68, Y:-82.72, Z:-46.20 [[ 9.24694141e-01 3.48669346e-01 1.52873910e-01 2.65681548e+02] [-3.43712708e-01 9.37244351e-01 -5.86054697e-02 -8.27218370e+01] [-1.63714139e-01 1.64742904e-03 9.86506445e-01 -4.61965030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.71, Y:-82.73, Z:-46.20 [[ 9.24389012e-01 3.49391815e-01 1.53069635e-01 2.65706127e+02] [-3.44433228e-01 9.36975486e-01 -5.86744336e-02 -8.27348209e+01] [-1.63922863e-01 1.51573313e-03 9.86471995e-01 -4.62015343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:265.73, Y:-82.75, Z:-46.20 [[ 9.24169796e-01 3.50063012e-01 1.52859658e-01 2.65732006e+02] [-3.45128952e-01 9.36725130e-01 -5.85835892e-02 -8.27482889e+01] [-1.63695430e-01 1.38489032e-03 9.86509953e-01 -4.62046687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.76, Y:-82.76, Z:-46.21 [[ 9.23963249e-01 3.50896842e-01 1.52195007e-01 2.65756219e+02] [-3.46018499e-01 9.36413321e-01 -5.83205755e-02 -8.27642666e+01] [-1.62981938e-01 1.22378041e-03 9.86628294e-01 -4.62119291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.78, Y:-82.78, Z:-46.22 [[ 9.23877290e-01 3.51375235e-01 1.51611996e-01 2.65780614e+02] [-3.46542187e-01 9.36234038e-01 -5.80890628e-02 -8.27768163e+01] [-1.62355369e-01 1.12721319e-03 9.86731708e-01 -4.62172538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79587156 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:265.81, Y:-82.79, Z:-46.22 [[ 9.23770435e-01 3.52142521e-01 1.50478666e-01 2.65807057e+02] [-3.47393805e-01 9.35945882e-01 -5.76441606e-02 -8.27927397e+01] [-1.61138848e-01 9.74614996e-04 9.86931265e-01 -4.62208170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.84, Y:-82.81, Z:-46.23 [[ 9.23489927e-01 3.52711617e-01 1.50867064e-01 2.65835234e+02] [-3.47945988e-01 9.35731664e-01 -5.77913611e-02 -8.28063298e+01] [-1.61554773e-01 8.76150138e-04 9.86863358e-01 -4.62281404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.86, Y:-82.82, Z:-46.23 [[ 9.23216257e-01 3.53198097e-01 1.51402929e-01 2.65864004e+02] [-3.48399881e-01 9.35548197e-01 -5.80266743e-02 -8.28202617e+01] [-1.62139648e-01 8.22406493e-04 9.86767479e-01 -4.62338785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.89, Y:-82.83, Z:-46.24 [[ 9.23121310e-01 3.53565381e-01 1.51124350e-01 2.65892486e+02] [-3.48784851e-01 9.35409485e-01 -5.79501734e-02 -8.28341298e+01] [-1.61852326e-01 7.85156086e-04 9.86814678e-01 -4.62390234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.92, Y:-82.85, Z:-46.24 [[ 9.22746289e-01 3.54683862e-01 1.50793382e-01 2.65919487e+02] [-3.49935580e-01 9.34986089e-01 -5.78455056e-02 -8.28489238e+01] [-1.61506581e-01 6.08756246e-04 9.86871447e-01 -4.62444543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.95, Y:-82.86, Z:-46.25 [[ 9.22377139e-01 3.55499350e-01 1.51131155e-01 2.65948129e+02] [-3.50740532e-01 9.34676412e-01 -5.79748631e-02 -8.28614894e+01] [-1.61868751e-01 4.66866778e-04 9.86812185e-01 -4.62500563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:265.98, Y:-82.87, Z:-46.25 [[ 9.21696357e-01 3.56956596e-01 1.51848000e-01 2.65977460e+02] [-3.52171344e-01 9.34120946e-01 -5.82529122e-02 -8.28749938e+01] [-1.62638159e-01 2.14982743e-04 9.86685757e-01 -4.62538405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:-82.89, Z:-46.26 [[ 9.21542756e-01 3.57324648e-01 1.51914598e-01 2.66005335e+02] [-3.52535183e-01 9.33980227e-01 -5.83084960e-02 -8.28867710e+01] [-1.62720294e-01 1.78531328e-04 9.86672222e-01 -4.62613225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:-82.90, Z:-46.27 [[ 9.21675072e-01 3.56922239e-01 1.52057805e-01 2.66031738e+02] [-3.52113547e-01 9.34134058e-01 -5.83918773e-02 -8.29004910e+01] [-1.62883734e-01 2.76724547e-04 9.86645231e-01 -4.62672923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.06, Y:-82.91, Z:-46.27 [[ 9.21999795e-01 3.56023467e-01 1.52196153e-01 2.66060035e+02] [-3.51192001e-01 9.34476908e-01 -5.84558479e-02 -8.29136416e+01] [-1.63035444e-01 4.46208202e-04 9.86620112e-01 -4.62724121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.09, Y:-82.93, Z:-46.28 [[ 9.22186069e-01 3.55239113e-01 1.52898745e-01 2.66087832e+02] [-3.50351214e-01 9.34775279e-01 -5.87299259e-02 -8.29266394e+01] [-1.63789134e-01 5.91658452e-04 9.86495195e-01 -4.62777962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.12, Y:-82.94, Z:-46.28 [[ 9.22793318e-01 3.53575426e-01 1.53091184e-01 2.66117655e+02] [-3.48651865e-01 9.35405594e-01 -5.88069080e-02 -8.29401922e+01] [-1.63995028e-01 8.91094772e-04 9.86460763e-01 -4.62832248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.15, Y:-82.95, Z:-46.29 [[ 9.23183578e-01 3.52638593e-01 1.52899001e-01 2.66146888e+02] [-3.47708921e-01 9.35758963e-01 -5.87679360e-02 -8.29524835e+01] [-1.63800453e-01 1.08924679e-03 9.86492892e-01 -4.62887938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.18, Y:-82.97, Z:-46.29 [[ 9.23541340e-01 3.51845599e-01 1.52564961e-01 2.66175587e+02] [-3.46923394e-01 9.36057220e-01 -5.86603670e-02 -8.29653135e+01] [-1.63448925e-01 1.24691973e-03 9.86551009e-01 -4.62947477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.20, Y:-82.98, Z:-46.30 [[ 9.24223195e-01 3.50328543e-01 1.51925630e-01 2.66203529e+02] [-3.45422271e-01 9.36625616e-01 -5.84457866e-02 -8.29795560e+01] [-1.62772664e-01 1.53845541e-03 9.86662401e-01 -4.63008866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.23, Y:-82.99, Z:-46.31 [[ 9.24379486e-01 3.50003574e-01 1.51723641e-01 2.66232372e+02] [-3.45100993e-01 9.36746959e-01 -5.83989749e-02 -8.29929840e+01] [-1.62566510e-01 1.62283513e-03 9.86696253e-01 -4.63060050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:-83.01, Z:-46.31 [[ 9.24472661e-01 3.49774300e-01 1.51684666e-01 2.66261746e+02] [-3.44866136e-01 9.36832470e-01 -5.84146522e-02 -8.30069232e+01] [-1.62535065e-01 1.69184426e-03 9.86701318e-01 -4.63119934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.29, Y:-83.02, Z:-46.32 [[ 9.24485544e-01 3.50210538e-01 1.50595677e-01 2.66290009e+02] [-3.45373503e-01 9.36669583e-01 -5.80278832e-02 -8.30213153e+01] [-1.61380366e-01 1.63418254e-03 9.86890930e-01 -4.63175620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.32, Y:-83.03, Z:-46.32 [[ 9.24114096e-01 3.51306873e-01 1.50321717e-01 2.66319809e+02] [-3.46496998e-01 9.36259218e-01 -5.79526257e-02 -8.30340499e+01] [-1.61099249e-01 1.46881476e-03 9.86937118e-01 -4.63220007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.35, Y:-83.05, Z:-46.33 [[ 9.23145449e-01 3.53881248e-01 1.50234956e-01 2.66348595e+02] [-3.49105371e-01 9.35289772e-01 -5.79524052e-02 -8.30472085e+01] [-1.61021487e-01 1.05066902e-03 9.86950342e-01 -4.63291464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39587156 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:266.38, Y:-83.06, Z:-46.33 [[ 9.22426433e-01 3.55739485e-01 1.50262750e-01 2.66378684e+02] [-3.50981265e-01 9.34584853e-01 -5.79939999e-02 -8.30600222e+01] [-1.61064046e-01 7.55788498e-04 9.86943667e-01 -4.63325217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.41, Y:-83.07, Z:-46.34 [[ 9.21564234e-01 3.57782853e-01 1.50701008e-01 2.66407147e+02] [-3.53018298e-01 9.33804714e-01 -5.81965410e-02 -8.30722860e+01] [-1.61547036e-01 4.31637460e-04 9.86864919e-01 -4.63383801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.44, Y:-83.09, Z:-46.35 [[ 9.19715977e-01 3.62314535e-01 1.51164477e-01 2.66435244e+02] [-3.57575865e-01 9.32055828e-01 -5.84074881e-02 -8.30850712e+01] [-1.62055614e-01 -3.34468839e-04 9.86781570e-01 -4.63450430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.47, Y:-83.10, Z:-46.35 [[ 9.18718097e-01 3.64723335e-01 1.51439580e-01 2.66465833e+02] [-3.59997234e-01 9.31115639e-01 -5.85291328e-02 -8.30968590e+01] [-1.62354702e-01 -7.46056485e-04 9.86732180e-01 -4.63505003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:-83.11, Z:-46.36 [[ 9.17817522e-01 3.66953644e-01 1.51512438e-01 2.66493558e+02] [-3.62247388e-01 9.30238569e-01 -5.85921045e-02 -8.31070337e+01] [-1.62443300e-01 -1.10812468e-03 9.86717258e-01 -4.63551362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.52, Y:-83.12, Z:-46.36 [[ 9.16426108e-01 3.70709580e-01 1.50789907e-01 2.66520370e+02] [-3.66098386e-01 9.28747168e-01 -5.83152634e-02 -8.31153414e+01] [-1.61663726e-01 -1.76231166e-03 9.86844331e-01 -4.63607582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.55, Y:-83.13, Z:-46.37 [[ 9.15845036e-01 3.72259823e-01 1.50500813e-01 2.66548515e+02] [-3.67688523e-01 9.28126319e-01 -5.81952391e-02 -8.31257748e+01] [-1.61347515e-01 -2.03960075e-03 9.86895546e-01 -4.63660142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.57, Y:-83.14, Z:-46.37 [[ 9.15484554e-01 3.73180871e-01 1.50412993e-01 2.66574576e+02] [-3.68627223e-01 9.27756001e-01 -5.81616152e-02 -8.31354519e+01] [-1.61251359e-01 -2.20026348e-03 9.86910917e-01 -4.63707045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:-83.14, Z:-46.38 [[ 9.15246142e-01 3.73806568e-01 1.50310176e-01 2.66601790e+02] [-3.69268532e-01 9.27503797e-01 -5.81159029e-02 -8.31436108e+01] [-1.61137365e-01 -2.31446196e-03 9.86929275e-01 -4.63763894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:-83.15, Z:-46.38 [[ 9.15332356e-01 3.73494088e-01 1.50561762e-01 2.66629867e+02] [-3.68937917e-01 9.27629780e-01 -5.82048605e-02 -8.31531046e+01] [-1.61404745e-01 -2.27115073e-03 9.86885682e-01 -4.63816149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.66, Y:-83.16, Z:-46.39 [[ 9.15867737e-01 3.72142758e-01 1.50652105e-01 2.66660484e+02] [-3.67563915e-01 9.28173263e-01 -5.82336836e-02 -8.31639391e+01] [-1.61502500e-01 -2.03992562e-03 9.86870195e-01 -4.63878891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.69, Y:-83.17, Z:-46.39 [[ 9.16305625e-01 3.71161001e-01 1.50411145e-01 2.66690533e+02] [-3.66578182e-01 9.28566721e-01 -5.81745701e-02 -8.31745474e+01] [-1.61258916e-01 -1.83175836e-03 9.86910435e-01 -4.63933042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.72, Y:-83.18, Z:-46.40 [[ 9.16755558e-01 3.70057677e-01 1.50388042e-01 2.66718735e+02] [-3.65456053e-01 9.29007393e-01 -5.81991144e-02 -8.31847815e+01] [-1.61248632e-01 -1.60585858e-03 9.86912509e-01 -4.63985192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.75, Y:-83.20, Z:-46.40 [[ 9.17955655e-01 3.66962469e-01 1.50651792e-01 2.66746456e+02] [-3.62303147e-01 9.30235140e-01 -5.83010737e-02 -8.31953021e+01] [-1.61535897e-01 -1.06381799e-03 9.86866264e-01 -4.64038410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.78, Y:-83.21, Z:-46.41 [[ 9.18643984e-01 3.65167894e-01 1.50816578e-01 2.66775104e+02] [-3.60473944e-01 9.30941379e-01 -5.83668091e-02 -8.32069160e+01] [-1.61715077e-01 -7.47128487e-04 9.86837208e-01 -4.64088038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.81, Y:-83.22, Z:-46.41 [[ 9.20104289e-01 3.61427464e-01 1.50924770e-01 2.66805922e+02] [-3.56676235e-01 9.32400226e-01 -5.84113233e-02 -8.32186197e+01] [-1.61833746e-01 -8.67695139e-05 9.86818033e-01 -4.64146369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.84, Y:-83.23, Z:-46.42 [[ 9.20792362e-01 3.59739837e-01 1.50760325e-01 2.66835228e+02] [-3.54970999e-01 9.33052620e-01 -5.83814930e-02 -8.32303918e+01] [-1.61669465e-01 2.41689738e-04 9.86844935e-01 -4.64206822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90587156 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.87, Y:-83.24, Z:-46.42 [[ 9.21401188e-01 3.58355997e-01 1.50335724e-01 2.66865515e+02] [-3.53590762e-01 9.33584874e-01 -5.82482324e-02 -8.32434394e+01] [-1.61224761e-01 5.12667225e-04 9.86917582e-01 -4.64243980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.89, Y:-83.26, Z:-46.43 [[ 9.21783471e-01 3.57254669e-01 1.50613193e-01 2.66894076e+02] [-3.52451605e-01 9.34006722e-01 -5.83892998e-02 -8.32560485e+01] [-1.61533585e-01 7.38429901e-04 9.86866939e-01 -4.64319403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.92, Y:-83.27, Z:-46.44 [[ 9.22333160e-01 3.55920081e-01 1.50407573e-01 2.66922825e+02] [-3.51107497e-01 9.34515861e-01 -5.83406393e-02 -8.32688022e+01] [-1.61322867e-01 1.00027983e-03 9.86901176e-01 -4.64376077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.95, Y:-83.28, Z:-46.44 [[ 9.22335544e-01 3.55877117e-01 1.50494594e-01 2.66952655e+02] [-3.51052969e-01 9.34532181e-01 -5.84073304e-02 -8.32809809e+01] [-1.61427873e-01 1.03958301e-03 9.86883965e-01 -4.64427950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.98, Y:-83.29, Z:-46.45 [[ 9.22269869e-01 3.56039332e-01 1.50513395e-01 2.66982324e+02] [-3.51210772e-01 9.34470389e-01 -5.84472899e-02 -8.32945402e+01] [-1.61459845e-01 1.04224853e-03 9.86878732e-01 -4.64483066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.01, Y:-83.31, Z:-46.45 [[ 9.22142360e-01 3.56453018e-01 1.50315379e-01 2.67012316e+02] [-3.51637346e-01 9.34312714e-01 -5.84031703e-02 -8.33071410e+01] [-1.61259556e-01 9.99536347e-04 9.86911524e-01 -4.64546210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.04, Y:-83.32, Z:-46.46 [[ 9.22016001e-01 3.57047427e-01 1.49678419e-01 2.67041945e+02] [-3.52275215e-01 9.34085801e-01 -5.81883945e-02 -8.33189740e+01] [-1.60588503e-01 9.22633458e-04 9.87021014e-01 -4.64602797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.07, Y:-83.33, Z:-46.46 [[ 9.21605481e-01 3.58445945e-01 1.48861823e-01 2.67070587e+02] [-3.53739217e-01 9.33550218e-01 -5.79012750e-02 -8.33318526e+01] [-1.59724464e-01 7.03867633e-04 9.87161385e-01 -4.64646624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:-83.34, Z:-46.47 [[ 9.21062481e-01 3.59640946e-01 1.49339529e-01 2.67097867e+02] [-3.54914846e-01 9.33090625e-01 -5.81148641e-02 -8.33434336e+01] [-1.60247799e-01 5.24604912e-04 9.87076678e-01 -4.64712451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.13, Y:-83.35, Z:-46.48 [[ 9.19501486e-01 3.63533776e-01 1.49533312e-01 2.67125018e+02] [-3.58846337e-01 9.31581006e-01 -5.81905142e-02 -8.33537709e+01] [-1.60456611e-01 -1.53217198e-04 9.87042883e-01 -4.64756674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:-83.36, Z:-46.48 [[ 9.18657468e-01 3.65812189e-01 1.49163999e-01 2.67150639e+02] [-3.61178417e-01 9.30688528e-01 -5.80432090e-02 -8.33631083e+01] [-1.60058136e-01 -5.52989768e-04 9.87107434e-01 -4.64805671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.18, Y:-83.37, Z:-46.49 [[ 9.16945191e-01 3.70220414e-01 1.48823256e-01 2.67176046e+02] [-3.65667078e-01 9.28942992e-01 -5.79008288e-02 -8.33723046e+01] [-1.59684389e-01 -1.32787851e-03 9.87167226e-01 -4.64854052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.20, Y:-83.38, Z:-46.49 [[ 9.16306228e-01 3.71712153e-01 1.49040168e-01 2.67202631e+02] [-3.67166792e-01 9.28346656e-01 -5.79744130e-02 -8.33816814e+01] [-1.59910735e-01 -1.60028462e-03 9.87130182e-01 -4.64909963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.23, Y:-83.39, Z:-46.50 [[ 9.15809006e-01 3.72941541e-01 1.49025069e-01 2.67229362e+02] [-3.68414522e-01 9.27853053e-01 -5.79607882e-02 -8.33908810e+01] [-1.59889351e-01 -1.82198753e-03 9.87133262e-01 -4.64958695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.26, Y:-83.40, Z:-46.50 [[ 9.15467203e-01 3.73592903e-01 1.49492951e-01 2.67256076e+02] [-3.69047086e-01 9.27590720e-01 -5.81352209e-02 -8.33994566e+01] [-1.60387180e-01 -1.94905000e-03 9.87052255e-01 -4.65010028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:267.28, Y:-83.41, Z:-46.50 [[ 9.15575649e-01 3.73255542e-01 1.49671411e-01 2.67282974e+02] [-3.68696238e-01 9.27726618e-01 -5.81928404e-02 -8.34098712e+01] [-1.60574952e-01 -1.90333854e-03 9.87021814e-01 -4.65043228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.31, Y:-83.42, Z:-46.51 [[ 9.16112611e-01 3.71768116e-01 1.50087148e-01 2.67308750e+02] [-3.67164727e-01 9.28324152e-01 -5.83466624e-02 -8.34179099e+01] [-1.61020953e-01 -1.65459360e-03 9.86949601e-01 -4.65101822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:-83.43, Z:-46.52 [[ 9.16479506e-01 3.70795294e-01 1.50253667e-01 2.67335274e+02] [-3.66170231e-01 9.28713420e-01 -5.84015885e-02 -8.34264818e+01] [-1.61197631e-01 -1.49456108e-03 9.86921015e-01 -4.65154066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.36, Y:-83.44, Z:-46.52 [[ 9.16940645e-01 3.69784608e-01 1.49930638e-01 2.67361621e+02] [-3.65167814e-01 9.29116565e-01 -5.82655677e-02 -8.34362414e+01] [-1.60848750e-01 -1.32377621e-03 9.86978180e-01 -4.65194620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.39, Y:-83.45, Z:-46.53 [[ 9.17711169e-01 3.68204456e-01 1.49102951e-01 2.67389591e+02] [-3.63620014e-01 9.29744251e-01 -5.79319697e-02 -8.34474291e+01] [-1.59958421e-01 -1.05200166e-03 9.87123192e-01 -4.65264932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.42, Y:-83.46, Z:-46.53 [[ 9.17872675e-01 3.67869767e-01 1.48934840e-01 2.67420161e+02] [-3.63291702e-01 9.29876790e-01 -5.78644438e-02 -8.34581445e+01] [-1.59777630e-01 -9.94599624e-04 9.87152531e-01 -4.65317067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.45, Y:-83.47, Z:-46.54 [[ 9.18114658e-01 3.67053459e-01 1.49456459e-01 2.67450666e+02] [-3.62426719e-01 9.30199484e-01 -5.81015724e-02 -8.34664672e+01] [-1.60350704e-01 -8.23108933e-04 9.87059762e-01 -4.65372876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.48, Y:-83.48, Z:-46.54 [[ 9.18110131e-01 3.67069427e-01 1.49445049e-01 2.67479141e+02] [-3.62438123e-01 9.30193209e-01 -5.81309053e-02 -8.34775293e+01] [-1.60350848e-01 -7.94010046e-04 9.87059763e-01 -4.65425633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.51, Y:-83.49, Z:-46.55 [[ 9.18294428e-01 3.66541173e-01 1.49609199e-01 2.67506437e+02] [-3.61892277e-01 9.30401568e-01 -5.81970977e-02 -8.34871492e+01] [-1.60528266e-01 -7.00343150e-04 9.87030995e-01 -4.65477393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.54, Y:-83.50, Z:-46.55 [[ 9.18472771e-01 3.65994317e-01 1.49853024e-01 2.67535298e+02] [-3.61323324e-01 9.30616887e-01 -5.82894955e-02 -8.34976274e+01] [-1.60789379e-01 -6.08078528e-04 9.86988554e-01 -4.65526311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.56, Y:-83.51, Z:-46.56 [[ 9.18702183e-01 3.65274016e-01 1.50203836e-01 2.67563543e+02] [-3.60570701e-01 9.30899921e-01 -5.84303523e-02 -8.35078477e+01] [-1.61167828e-01 -4.79010100e-04 9.86926898e-01 -4.65577669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.59, Y:-83.52, Z:-46.56 [[ 9.19015636e-01 3.64293303e-01 1.50667346e-01 2.67591340e+02] [-3.59547647e-01 9.31284218e-01 -5.86105389e-02 -8.35158854e+01] [-1.61665549e-01 -3.08088138e-04 9.86845558e-01 -4.65624084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.62, Y:-83.52, Z:-46.57 [[ 9.19070827e-01 3.64182138e-01 1.50599421e-01 2.67618720e+02] [-3.59438832e-01 9.31327702e-01 -5.85870048e-02 -8.35245427e+01] [-1.61593753e-01 -2.85672989e-04 9.86857324e-01 -4.65663458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.65, Y:-83.53, Z:-46.57 [[ 9.18934013e-01 3.64335675e-01 1.51062226e-01 2.67645821e+02] [-3.59566400e-01 9.31267637e-01 -5.87587557e-02 -8.35316928e+01] [-1.62087273e-01 -3.21481644e-04 9.86776374e-01 -4.65730715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.67, Y:-83.54, Z:-46.58 [[ 9.18768378e-01 3.64557088e-01 1.51534807e-01 2.67674137e+02] [-3.59762115e-01 9.31180967e-01 -5.89340960e-02 -8.35407744e+01] [-1.62591170e-01 -3.69698846e-04 9.86693455e-01 -4.65778415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.70, Y:-83.55, Z:-46.58 [[ 9.18309179e-01 3.65693896e-01 1.51579110e-01 2.67700611e+02] [-3.60912117e-01 9.30735002e-01 -5.89474346e-02 -8.35479767e+01] [-1.62636700e-01 -5.74767168e-04 9.86685853e-01 -4.65823433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:267.73, Y:-83.56, Z:-46.59 [[ 9.18034038e-01 3.66571156e-01 1.51126080e-01 2.67729137e+02] [-3.61831684e-01 9.30389726e-01 -5.87604388e-02 -8.35571052e+01] [-1.62146035e-01 -7.38121238e-04 9.86766497e-01 -4.65867077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:-83.57, Z:-46.59 [[ 9.17756389e-01 3.67417366e-01 1.50757055e-01 2.67756316e+02] [-3.62712445e-01 9.30055749e-01 -5.86172851e-02 -8.35650557e+01] [-1.61749475e-01 -8.85072279e-04 9.86831457e-01 -4.65928603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.78, Y:-83.57, Z:-46.60 [[ 9.17253905e-01 3.69287003e-01 1.49239350e-01 2.67784426e+02] [-3.64702489e-01 9.29314613e-01 -5.80210680e-02 -8.35696221e+01] [-1.60116735e-01 -1.20791132e-03 9.87097347e-01 -4.65985175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.81, Y:-83.58, Z:-46.60 [[ 9.16993434e-01 3.70098152e-01 1.48830103e-01 2.67812221e+02] [-3.65550836e-01 9.28991672e-01 -5.78537877e-02 -8.35769162e+01] [-1.59673506e-01 -1.35342495e-03 9.87168952e-01 -4.66043242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.84, Y:-83.58, Z:-46.61 [[ 9.16789693e-01 3.70554103e-01 1.48950713e-01 2.67838946e+02] [-3.66006648e-01 9.28809765e-01 -5.78926183e-02 -8.35835480e+01] [-1.59799224e-01 -1.44159535e-03 9.87148484e-01 -4.66098604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.87, Y:-83.59, Z:-46.62 [[ 9.17084629e-01 3.70082122e-01 1.48307136e-01 2.67867416e+02] [-3.65569692e-01 9.28998043e-01 -5.76318940e-02 -8.35885012e+01] [-1.59105572e-01 -1.36326984e-03 9.87260633e-01 -4.66152726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.89, Y:-83.60, Z:-46.62 [[ 9.17395002e-01 3.69382094e-01 1.48132642e-01 2.67893549e+02] [-3.64872514e-01 9.29276768e-01 -5.75563716e-02 -8.35961997e+01] [-1.58916516e-01 -1.24760186e-03 9.87291236e-01 -4.66195068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.92, Y:-83.60, Z:-46.63 [[ 9.18139886e-01 3.67554479e-01 1.48063684e-01 2.67921095e+02] [-3.63027796e-01 9.30001513e-01 -5.75152673e-02 -8.36013374e+01] [-1.58839444e-01 -9.44171929e-04 9.87303975e-01 -4.66254724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.95, Y:-83.61, Z:-46.63 [[ 9.18592352e-01 3.66311738e-01 1.48336783e-01 2.67947141e+02] [-3.61754077e-01 9.30491892e-01 -5.76092627e-02 -8.36082957e+01] [-1.59129123e-01 -7.42007775e-04 9.87257500e-01 -4.66302365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.97, Y:-83.62, Z:-46.64 [[ 9.19028896e-01 3.65195816e-01 1.48384314e-01 2.67974114e+02] [-3.60623067e-01 9.30930556e-01 -5.76134016e-02 -8.36157784e+01] [-1.59175665e-01 -5.62425362e-04 9.87250116e-01 -4.66353336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:-83.62, Z:-46.64 [[ 9.19534214e-01 3.63824685e-01 1.48621760e-01 2.68000392e+02] [-3.59221312e-01 9.31467383e-01 -5.76937098e-02 -8.36233724e+01] [-1.59426718e-01 -3.36763409e-04 9.87209708e-01 -4.66401590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.03, Y:-83.63, Z:-46.65 [[ 9.20523430e-01 3.61043547e-01 1.49278840e-01 2.68027863e+02] [-3.56364784e-01 9.32548947e-01 -5.79361829e-02 -8.36303169e+01] [-1.60127310e-01 1.33892059e-04 9.87096361e-01 -4.66457588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.06, Y:-83.64, Z:-46.65 [[ 9.21112942e-01 3.59563619e-01 1.49214449e-01 2.68055070e+02] [-3.54870966e-01 9.33120494e-01 -5.79028519e-02 -8.36390237e+01] [-1.60054819e-01 3.83190624e-04 9.87108053e-01 -4.66504098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:-83.65, Z:-46.66 [[ 9.22182175e-01 3.56881500e-01 1.49049092e-01 2.68082422e+02] [-3.52165809e-01 9.34149286e-01 -5.78303920e-02 -8.36461781e+01] [-1.59872700e-01 8.40162739e-04 9.87137282e-01 -4.66553528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:-83.65, Z:-46.66 [[ 9.22746213e-01 3.55454638e-01 1.48967869e-01 2.68109166e+02] [-3.50726961e-01 9.34692910e-01 -5.77906813e-02 -8.36544004e+01] [-1.59781176e-01 1.07908446e-03 9.87151868e-01 -4.66601734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.14, Y:-83.66, Z:-46.67 [[ 9.23103482e-01 3.54395980e-01 1.49276425e-01 2.68135416e+02] [-3.49636470e-01 9.35094602e-01 -5.79001278e-02 -8.36627343e+01] [-1.60107152e-01 1.25532713e-03 9.87098842e-01 -4.66652325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.16, Y:-83.67, Z:-46.67 [[ 9.23957838e-01 3.52224009e-01 1.49131358e-01 2.68161879e+02] [-3.47447651e-01 9.35914327e-01 -5.78316690e-02 -8.36709586e+01] [-1.59943877e-01 1.61868390e-03 9.87124783e-01 -4.66699720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.19, Y:-83.68, Z:-46.67 [[ 9.24291651e-01 3.51255328e-01 1.49347371e-01 2.68188404e+02] [-3.46454479e-01 9.36278023e-01 -5.79030092e-02 -8.36801206e+01] [-1.60169402e-01 1.77720232e-03 9.87087942e-01 -4.66749151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.22, Y:-83.69, Z:-46.68 [[ 9.24728965e-01 3.49914297e-01 1.49787602e-01 2.68215370e+02] [-3.45068738e-01 9.36779565e-01 -5.80655911e-02 -8.36876688e+01] [-1.60635945e-01 2.00791517e-03 9.87011682e-01 -4.66801843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.24, Y:-83.70, Z:-46.69 [[ 9.25092921e-01 3.49203054e-01 1.49198907e-01 2.68241155e+02] [-3.44387910e-01 9.37044691e-01 -5.78291826e-02 -8.36969338e+01] [-1.60000171e-01 2.11506778e-03 9.87114721e-01 -4.66852743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.27, Y:-83.71, Z:-46.69 [[ 9.25334614e-01 3.48703515e-01 1.48868098e-01 2.68267830e+02] [-3.43905117e-01 9.37230536e-01 -5.76904868e-02 -8.37064024e+01] [-1.59640603e-01 2.18650374e-03 9.87172780e-01 -4.66906158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46587156 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:268.29, Y:-83.72, Z:-46.69 [[ 9.25691979e-01 3.48107710e-01 1.48038448e-01 2.68294982e+02] [-3.43356767e-01 9.37451800e-01 -5.73607394e-02 -8.37156811e+01] [-1.58746625e-01 2.26837356e-03 9.87316749e-01 -4.66932446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.32, Y:-83.72, Z:-46.70 [[ 9.25872120e-01 3.47607010e-01 1.48088433e-01 2.68320285e+02] [-3.42847786e-01 9.37637380e-01 -5.73719349e-02 -8.37247552e+01] [-1.58796137e-01 2.34728352e-03 9.87308603e-01 -4.67011186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.35, Y:-83.73, Z:-46.71 [[ 9.26119107e-01 3.47161763e-01 1.47587636e-01 2.68346504e+02] [-3.42431132e-01 9.37802180e-01 -5.71663369e-02 -8.37348768e+01] [-1.58253973e-01 2.40423559e-03 9.87395513e-01 -4.67060764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:-83.75, Z:-46.71 [[ 9.26294987e-01 3.47001927e-01 1.46857961e-01 2.68371957e+02] [-3.42317533e-01 9.37861315e-01 -5.68758334e-02 -8.37453681e+01] [-1.57468424e-01 2.41174439e-03 9.87521078e-01 -4.67114947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.40, Y:-83.76, Z:-46.72 [[ 9.26275726e-01 3.47112558e-01 1.46717935e-01 2.68398817e+02] [-3.42440150e-01 9.37820454e-01 -5.68114464e-02 -8.37558168e+01] [-1.57315047e-01 2.38095206e-03 9.87545597e-01 -4.67159445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:-83.77, Z:-46.72 [[ 9.25952206e-01 3.47960417e-01 1.46751695e-01 2.68425127e+02] [-3.43297679e-01 9.37506574e-01 -5.68166174e-02 -8.37661514e+01] [-1.57350613e-01 2.22995589e-03 9.87540284e-01 -4.67209078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.45, Y:-83.78, Z:-46.73 [[ 9.25728147e-01 3.48411871e-01 1.47093730e-01 2.68451192e+02] [-3.43734202e-01 9.37339076e-01 -5.69408060e-02 -8.37761625e+01] [-1.57715554e-01 2.15056098e-03 9.87482242e-01 -4.67258347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.48, Y:-83.79, Z:-46.73 [[ 9.25499778e-01 3.48888123e-01 1.47401627e-01 2.68477168e+02] [-3.44198010e-01 9.37162104e-01 -5.70519178e-02 -8.37860315e+01] [-1.58043955e-01 2.06619065e-03 9.87429916e-01 -4.67300101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.50, Y:-83.80, Z:-46.73 [[ 9.24885611e-01 3.50292342e-01 1.47925258e-01 2.68502206e+02] [-3.45588297e-01 9.36638647e-01 -5.72431134e-02 -8.37958409e+01] [-1.58604338e-01 1.82209376e-03 9.87340541e-01 -4.67342526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:268.53, Y:-83.81, Z:-46.74 [[ 9.24647383e-01 3.51101212e-01 1.47496292e-01 2.68528129e+02] [-3.46437032e-01 9.36336033e-01 -5.70632712e-02 -8.38066017e+01] [-1.58141077e-01 1.66522666e-03 9.87415124e-01 -4.67369376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.55, Y:-83.82, Z:-46.74 [[ 9.23937846e-01 3.52901870e-01 1.47645273e-01 2.68553647e+02] [-3.48252971e-01 9.35659370e-01 -5.71087795e-02 -8.38183585e+01] [-1.58299478e-01 1.34705775e-03 9.87390227e-01 -4.67443479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:-83.83, Z:-46.75 [[ 9.23536034e-01 3.53897032e-01 1.47777143e-01 2.68578269e+02] [-3.49253628e-01 9.35283658e-01 -5.71522790e-02 -8.38281790e+01] [-1.58439569e-01 1.17048574e-03 9.87367983e-01 -4.67487083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:-83.84, Z:-46.75 [[ 9.23152708e-01 3.54803931e-01 1.47997461e-01 2.68603548e+02] [-3.50160972e-01 9.34940196e-01 -5.72199543e-02 -8.38376574e+01] [-1.58670640e-01 9.99821089e-04 9.87331063e-01 -4.67529250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:-83.85, Z:-46.76 [[ 9.22203939e-01 3.56776171e-01 1.49166546e-01 2.68629962e+02] [-3.52086719e-01 9.34189668e-01 -5.76593996e-02 -8.38492323e+01] [-1.59921346e-01 6.54165786e-04 9.87129543e-01 -4.67573172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:-83.86, Z:-46.76 [[ 9.21827694e-01 3.57652811e-01 1.49392671e-01 2.68654827e+02] [-3.52961804e-01 9.33854497e-01 -5.77385730e-02 -8.38598827e+01] [-1.60161381e-01 4.95108862e-04 9.87090719e-01 -4.67619599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:-83.87, Z:-46.77 [[ 9.21057586e-01 3.59565895e-01 1.49550293e-01 2.68679624e+02] [-3.54891843e-01 9.33119684e-01 -5.77878468e-02 -8.38704388e+01] [-1.60326861e-01 1.51755406e-04 9.87063967e-01 -4.67669115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:-83.88, Z:-46.77 [[ 9.20625249e-01 3.60693398e-01 1.49497238e-01 2.68705709e+02] [-3.56039819e-01 9.32684443e-01 -5.77527322e-02 -8.38811531e+01] [-1.60264778e-01 -5.83462430e-05 9.87074059e-01 -4.67718134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97587156000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:268.73, Y:-83.89, Z:-46.77 [[ 9.20314598e-01 3.61718416e-01 1.48932296e-01 2.68731153e+02] [-3.57114468e-01 9.32287364e-01 -5.75284976e-02 -8.38919831e+01] [-1.59656815e-01 -2.41561469e-04 9.87172550e-01 -4.67742620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.75, Y:-83.90, Z:-46.78 [[ 9.19641327e-01 3.63602908e-01 1.48501698e-01 2.68754223e+02] [-3.59051691e-01 9.31553860e-01 -5.73523319e-02 -8.39040763e+01] [-1.59190805e-01 -5.76211215e-04 9.87247667e-01 -4.67817740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.78, Y:-83.92, Z:-46.79 [[ 9.19324050e-01 3.64551843e-01 1.48139277e-01 2.68779976e+02] [-3.60038309e-01 9.31182786e-01 -5.71929667e-02 -8.39151763e+01] [-1.58794546e-01 -7.56944870e-04 9.87311359e-01 -4.67869015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:-83.93, Z:-46.79 [[ 9.18611986e-01 3.66444794e-01 1.47885878e-01 2.68803453e+02] [-3.61973029e-01 9.30439153e-01 -5.70833453e-02 -8.39266920e+01] [-1.58516706e-01 -1.09325414e-03 9.87355690e-01 -4.67917244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.83, Y:-83.94, Z:-46.80 [[ 9.18339871e-01 3.67116896e-01 1.47908978e-01 2.68828298e+02] [-3.62655583e-01 9.30174003e-01 -5.70723396e-02 -8.39381789e+01] [-1.58533306e-01 -1.22821157e-03 9.87352866e-01 -4.67966658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:-83.95, Z:-46.80 [[ 9.18210605e-01 3.67576351e-01 1.47570023e-01 2.68853833e+02] [-3.63143401e-01 9.29992417e-01 -5.69295663e-02 -8.39499111e+01] [-1.58164964e-01 -1.31574842e-03 9.87411825e-01 -4.68010811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.88, Y:-83.97, Z:-46.81 [[ 9.17947093e-01 3.68547968e-01 1.46783959e-01 2.68878938e+02] [-3.64176677e-01 9.29607544e-01 -5.66141511e-02 -8.39652982e+01] [-1.57316506e-01 -1.48649903e-03 9.87547116e-01 -4.68051741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.90, Y:-83.98, Z:-46.81 [[ 9.17852750e-01 3.68808761e-01 1.46718872e-01 2.68902937e+02] [-3.64445982e-01 9.29504025e-01 -5.65808670e-02 -8.39771223e+01] [-1.57243302e-01 -1.53819907e-03 9.87558696e-01 -4.68115245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.93, Y:-83.99, Z:-46.82 [[ 9.17830850e-01 3.69254911e-01 1.45730373e-01 2.68927384e+02] [-3.64958254e-01 9.29326750e-01 -5.61895327e-02 -8.39905053e+01] [-1.56179395e-01 -1.61301598e-03 9.87727389e-01 -4.68165447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:268.95, Y:-84.00, Z:-46.82 [[ 9.17737634e-01 3.69663153e-01 1.45281754e-01 2.68953214e+02] [-3.65399987e-01 9.29164304e-01 -5.60048751e-02 -8.40016732e+01] [-1.55693559e-01 -1.68816955e-03 9.87803961e-01 -4.68186452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.98, Y:-84.01, Z:-46.83 [[ 9.17695334e-01 3.69673751e-01 1.45521793e-01 2.68977984e+02] [-3.65398397e-01 9.29160058e-01 -5.60856242e-02 -8.40130140e+01] [-1.55946421e-01 -1.70391441e-03 9.87764046e-01 -4.68266656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.00, Y:-84.03, Z:-46.83 [[ 9.17386159e-01 3.70435264e-01 1.45534703e-01 2.69003386e+02] [-3.66170576e-01 9.28856454e-01 -5.60784977e-02 -8.40269037e+01] [-1.55954301e-01 -1.84488847e-03 9.87762549e-01 -4.68313401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.03, Y:-84.04, Z:-46.84 [[ 9.17227006e-01 3.71701866e-01 1.43291109e-01 2.69030332e+02] [-3.67003218e-01 9.28350996e-01 -5.89327189e-02 -8.40368548e+01] [-1.54929846e-01 1.46638304e-03 9.87924386e-01 -4.68355278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.05, Y:-84.05, Z:-46.84 [[ 9.16562239e-01 3.71884030e-01 1.47023570e-01 2.69052657e+02] [-3.68148335e-01 9.28261962e-01 -5.28822494e-02 -8.40542063e+01] [-1.56142451e-01 -5.65660948e-03 9.87718349e-01 -4.68402111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.08, Y:-84.06, Z:-46.85 [[ 9.16197499e-01 3.73231278e-01 1.45878568e-01 2.69079707e+02] [-3.68985454e-01 9.27735357e-01 -5.61857884e-02 -8.40638603e+01] [-1.56306999e-01 -2.34979104e-03 9.87705726e-01 -4.68454511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.10, Y:-84.07, Z:-46.85 [[ 9.15867281e-01 3.74177404e-01 1.45527981e-01 2.69104675e+02] [-3.69965196e-01 9.27353739e-01 -5.60428077e-02 -8.40741948e+01] [-1.55925869e-01 -2.51251408e-03 9.87765565e-01 -4.68503000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.13, Y:-84.08, Z:-46.86 [[ 9.15888606e-01 3.74123719e-01 1.45531795e-01 2.69130925e+02] [-3.69912411e-01 9.27375394e-01 -5.60329012e-02 -8.40841672e+01] [-1.55925843e-01 -2.51412142e-03 9.87765565e-01 -4.68551484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.16, Y:-84.09, Z:-46.86 [[ 9.15150156e-01 3.76101904e-01 1.45077738e-01 2.69157594e+02] [-3.71943181e-01 9.26573920e-01 -5.58483737e-02 -8.40948296e+01] [-1.55429929e-01 -2.85102753e-03 9.87842806e-01 -4.68603708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.18, Y:-84.10, Z:-46.87 [[ 9.14889312e-01 3.76752719e-01 1.45034253e-01 2.69182807e+02] [-3.72605867e-01 9.26309116e-01 -5.58237336e-02 -8.41048459e+01] [-1.55378294e-01 -2.96807628e-03 9.87850584e-01 -4.68655246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.21, Y:-84.12, Z:-46.87 [[ 9.14819321e-01 3.77148651e-01 1.44445509e-01 2.69209411e+02] [-3.73042079e-01 9.26147775e-01 -5.55869257e-02 -8.41159223e+01] [-1.54742421e-01 -3.03225959e-03 9.87950195e-01 -4.68707195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57587156 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:269.23, Y:-84.13, Z:-46.87 [[ 9.14817602e-01 3.77611822e-01 1.43241292e-01 2.69234749e+02] [-3.73580623e-01 9.25958831e-01 -5.51158921e-02 -8.41275602e+01] [-1.53447951e-01 -3.09118274e-03 9.88151897e-01 -4.68717056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:-84.14, Z:-46.88 [[ 9.14881720e-01 3.77409232e-01 1.43365654e-01 2.69259621e+02] [-3.73370056e-01 9.26041496e-01 -5.51538692e-02 -8.41371079e+01] [-1.53578124e-01 -3.06917541e-03 9.88131742e-01 -4.68800586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.29, Y:-84.15, Z:-46.88 [[ 9.15118099e-01 3.76763202e-01 1.43556102e-01 2.69285795e+02] [-3.72706887e-01 9.26304833e-01 -5.52171393e-02 -8.41483851e+01] [-1.53780498e-01 -2.97414442e-03 9.88100558e-01 -4.68845768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.31, Y:-84.16, Z:-46.89 [[ 9.15325703e-01 3.76124131e-01 1.43907940e-01 2.69312705e+02] [-3.72041185e-01 9.26564804e-01 -5.53445643e-02 -8.41584636e+01] [-1.54156459e-01 -2.88137847e-03 9.88042248e-01 -4.68893915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:-84.17, Z:-46.89 [[ 9.15559197e-01 3.75528717e-01 1.43977567e-01 2.69338810e+02] [-3.71435703e-01 9.26806560e-01 -5.53635161e-02 -8.41678929e+01] [-1.54229943e-01 -2.78983229e-03 9.88031043e-01 -4.68938694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.36, Y:-84.18, Z:-46.90 [[ 9.15742599e-01 3.74892974e-01 1.44467123e-01 2.69363690e+02] [-3.70765583e-01 9.27064163e-01 -5.55420675e-02 -8.41761741e+01] [-1.54752623e-01 -2.70119971e-03 9.87949558e-01 -4.68987969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.39, Y:-84.19, Z:-46.90 [[ 9.15849991e-01 3.74665762e-01 1.44375761e-01 2.69390481e+02] [-3.70543038e-01 9.27156090e-01 -5.54927273e-02 -8.41865140e+01] [-1.54650091e-01 -2.67441929e-03 9.87965686e-01 -4.69037513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:-84.20, Z:-46.91 [[ 9.15969877e-01 3.74477232e-01 1.44104082e-01 2.69416671e+02] [-3.70369007e-01 9.27232337e-01 -5.53804278e-02 -8.41971820e+01] [-1.54356674e-01 -2.64488208e-03 9.88011651e-01 -4.69084452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.44, Y:-84.21, Z:-46.91 [[ 9.16155145e-01 3.74111100e-01 1.43877153e-01 2.69441840e+02] [-3.70012582e-01 9.27380287e-01 -5.52855548e-02 -8.42078462e+01] [-1.54111775e-01 -2.58621149e-03 9.88050035e-01 -4.69133764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.47, Y:-84.22, Z:-46.92 [[ 9.16315057e-01 3.73900287e-01 1.43406041e-01 2.69468230e+02] [-3.69827690e-01 9.27465398e-01 -5.50945986e-02 -8.42179802e+01] [-1.53604027e-01 -2.55151460e-03 9.88129188e-01 -4.69182167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.49, Y:-84.23, Z:-46.92 [[ 9.16458246e-01 3.73664288e-01 1.43105844e-01 2.69493347e+02] [-3.69607131e-01 9.27560608e-01 -5.49716940e-02 -8.42277082e+01] [-1.53280302e-01 -2.51367817e-03 9.88179554e-01 -4.69230463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.52, Y:-84.24, Z:-46.93 [[ 9.16628545e-01 3.73308824e-01 1.42942757e-01 2.69519948e+02] [-3.69258249e-01 9.27703867e-01 -5.48988144e-02 -8.42377162e+01] [-1.53102760e-01 -2.46097179e-03 9.88207209e-01 -4.69273081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.55, Y:-84.25, Z:-46.93 [[ 9.16762412e-01 3.73155664e-01 1.42483439e-01 2.69546299e+02] [-3.69130563e-01 9.27765554e-01 -5.47147495e-02 -8.42469974e+01] [-1.52608345e-01 -2.43456611e-03 9.88283748e-01 -4.69321514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.57, Y:-84.26, Z:-46.94 [[ 9.16918609e-01 3.72783315e-01 1.42453025e-01 2.69572497e+02] [-3.68756604e-01 9.27915374e-01 -5.46957594e-02 -8.42559400e+01] [-1.52574018e-01 -2.37893418e-03 9.88289183e-01 -4.69368636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.60, Y:-84.26, Z:-46.94 [[ 9.16796655e-01 3.72944183e-01 1.42816419e-01 2.69599108e+02] [-3.68900537e-01 9.27850616e-01 -5.48236090e-02 -8.42646952e+01] [-1.52958448e-01 -2.42295218e-03 9.88229651e-01 -4.69409897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02587156 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:269.63, Y:-84.27, Z:-46.94 [[ 9.16756470e-01 3.73097287e-01 1.42674416e-01 2.69626202e+02] [-3.69065415e-01 9.27788972e-01 -5.47571339e-02 -8.42745697e+01] [-1.52801487e-01 -2.45723555e-03 9.88253848e-01 -4.69432239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.65, Y:-84.28, Z:-46.95 [[ 9.16942251e-01 3.72634700e-01 1.42689482e-01 2.69652806e+02] [-3.68597644e-01 9.27975042e-01 -5.47548950e-02 -8.42840668e+01] [-1.52815852e-01 -2.38793028e-03 9.88251796e-01 -4.69504524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:-84.29, Z:-46.96 [[ 9.17048212e-01 3.72325331e-01 1.42816054e-01 2.69679076e+02] [-3.68278590e-01 9.28099318e-01 -5.47954100e-02 -8.42943264e+01] [-1.52949202e-01 -2.34606225e-03 9.88231267e-01 -4.69552376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.71, Y:-84.30, Z:-46.96 [[ 9.17617246e-01 3.70855027e-01 1.42986501e-01 2.69705054e+02] [-3.66782071e-01 9.28688372e-01 -5.48527090e-02 -8.43035287e+01] [-1.53132304e-01 -2.11109321e-03 9.88203441e-01 -4.69590603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.73, Y:-84.31, Z:-46.96 [[ 9.18598928e-01 3.68448789e-01 1.42903809e-01 2.69730830e+02] [-3.64352804e-01 9.29646463e-01 -5.48132219e-02 -8.43125413e+01] [-1.53045886e-01 -1.71603662e-03 9.88217593e-01 -4.69638943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.76, Y:-84.32, Z:-46.97 [[ 9.19197066e-01 3.66838759e-01 1.43199440e-01 2.69756593e+02] [-3.62707884e-01 9.30283393e-01 -5.49162947e-02 -8.43234112e+01] [-1.53361486e-01 -1.46066892e-03 9.88169075e-01 -4.69686613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.78, Y:-84.33, Z:-46.97 [[ 9.19801808e-01 3.65109508e-01 1.43734759e-01 2.69782427e+02] [-3.60927751e-01 9.30963826e-01 -5.51136430e-02 -8.43342222e+01] [-1.53934377e-01 -1.18423498e-03 9.88080364e-01 -4.69719959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.81, Y:-84.34, Z:-46.98 [[ 9.21026833e-01 3.61748408e-01 1.44387196e-01 2.69808442e+02] [-3.57488868e-01 9.32275542e-01 -5.53536137e-02 -8.43429976e+01] [-1.54632733e-01 -6.34651727e-04 9.87971819e-01 -4.69776626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.83, Y:-84.35, Z:-46.98 [[ 9.21674857e-01 3.60126408e-01 1.44306717e-01 2.69834949e+02] [-3.55853460e-01 9.32903442e-01 -5.53125890e-02 -8.43539125e+01] [-1.54543757e-01 -3.71822105e-04 9.87985875e-01 -4.69830362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.86, Y:-84.37, Z:-46.99 [[ 9.23062933e-01 3.56888004e-01 1.43477432e-01 2.69862430e+02] [-3.52626725e-01 9.34147165e-01 -5.49860549e-02 -8.43675308e+01] [-1.53652900e-01 1.61612018e-04 9.88124871e-01 -4.69879355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.89, Y:-84.38, Z:-46.99 [[ 9.23429721e-01 3.56095353e-01 1.43086160e-01 2.69889325e+02] [-3.51847928e-01 9.34449578e-01 -5.48363238e-02 -8.43783963e+01] [-1.53233762e-01 2.92922352e-04 9.88189925e-01 -4.69928497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.92, Y:-84.39, Z:-47.00 [[ 9.23719556e-01 3.55484596e-01 1.42733611e-01 2.69916576e+02] [-3.51251223e-01 9.34682058e-01 -5.46994478e-02 -8.43885765e+01] [-1.52855356e-01 3.91594208e-04 9.88248494e-01 -4.69983040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.94, Y:-84.40, Z:-47.00 [[ 9.23755646e-01 3.55406511e-01 1.42694497e-01 2.69944933e+02] [-3.51175285e-01 9.34711748e-01 -5.46796723e-02 -8.44020033e+01] [-1.52811734e-01 3.99875348e-04 9.88255237e-01 -4.70031684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.97, Y:-84.41, Z:-47.01 [[ 9.23620506e-01 3.55749544e-01 1.42714481e-01 2.69972161e+02] [-3.51520544e-01 9.34581265e-01 -5.46915482e-02 -8.44136886e+01] [-1.52834774e-01 3.47163331e-04 9.88251694e-01 -4.70075168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.00, Y:-84.42, Z:-47.01 [[ 9.23072857e-01 3.57204843e-01 1.42622581e-01 2.70001634e+02] [-3.52998737e-01 9.34026065e-01 -5.46553058e-02 -8.44246436e+01] [-1.52736348e-01 1.05238370e-04 9.88266966e-01 -4.70130960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47587156000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:270.03, Y:-84.44, Z:-47.02 [[ 9.22674791e-01 3.58288309e-01 1.42480588e-01 2.70030013e+02] [-3.54098626e-01 9.33610993e-01 -5.46322016e-02 -8.44363922e+01] [-1.52595522e-01 -4.44251124e-05 9.88288725e-01 -4.70158474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.06, Y:-84.45, Z:-47.02 [[ 9.22605396e-01 3.58646527e-01 1.42028001e-01 2.70055614e+02] [-3.54487373e-01 9.33473438e-01 -5.44613966e-02 -8.44464689e+01] [-1.52111757e-01 -1.00754502e-04 9.88363295e-01 -4.70230158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:-84.46, Z:-47.03 [[ 9.22225641e-01 3.59854719e-01 1.41437082e-01 2.70082113e+02] [-3.55744982e-01 9.33008301e-01 -5.42311485e-02 -8.44572048e+01] [-1.51477306e-01 -3.02176402e-04 9.88460689e-01 -4.70278547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.11, Y:-84.47, Z:-47.03 [[ 9.21983737e-01 3.60622855e-01 1.41057243e-01 2.70109798e+02] [-3.56545476e-01 9.32711621e-01 -5.40773141e-02 -8.44674488e+01] [-1.51067245e-01 -4.34917624e-04 9.88523393e-01 -4.70332584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59587156000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:270.14, Y:-84.48, Z:-47.04 [[ 9.21785100e-01 3.61389696e-01 1.40391301e-01 2.70136270e+02] [-3.57360297e-01 9.32414700e-01 -5.38186373e-02 -8.44782659e+01] [-1.50352414e-01 -5.61059089e-04 9.88632306e-01 -4.70350938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.16, Y:-84.49, Z:-47.04 [[ 9.21091241e-01 3.63169885e-01 1.40351559e-01 2.70161701e+02] [-3.59164448e-01 9.31722544e-01 -5.37959201e-02 -8.44887814e+01] [-1.50305770e-01 -8.58339529e-04 9.88639185e-01 -4.70406090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.19, Y:-84.50, Z:-47.05 [[ 9.20710193e-01 3.63994678e-01 1.40714655e-01 2.70187594e+02] [-3.59979558e-01 9.31400485e-01 -5.39245299e-02 -8.44977411e+01] [-1.50689940e-01 -1.00553504e-03 9.88580564e-01 -4.70468461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.21, Y:-84.51, Z:-47.05 [[ 9.20017496e-01 3.65381938e-01 1.41646909e-01 2.70213991e+02] [-3.61331124e-01 9.30856849e-01 -5.42710290e-02 -8.45068454e+01] [-1.51682649e-01 -1.25114046e-03 9.88428454e-01 -4.70509489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.24, Y:-84.52, Z:-47.06 [[ 9.19920126e-01 3.65454370e-01 1.42091751e-01 2.70240678e+02] [-3.61380316e-01 9.30828380e-01 -5.44315442e-02 -8.45170153e+01] [-1.52155280e-01 -1.27648887e-03 9.88355777e-01 -4.70556878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.27, Y:-84.53, Z:-47.06 [[ 9.20004378e-01 3.65213385e-01 1.42165845e-01 2.70266141e+02] [-3.61133339e-01 9.30923002e-01 -5.44525158e-02 -8.45268549e+01] [-1.52232243e-01 -1.24427348e-03 9.88343966e-01 -4.70606454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.29, Y:-84.54, Z:-47.07 [[ 9.20659400e-01 3.63939259e-01 1.41189533e-01 2.70290903e+02] [-3.59902083e-01 9.31422107e-01 -5.40680032e-02 -8.45374274e+01] [-1.51184522e-01 -1.03619170e-03 9.88505016e-01 -4.70661391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.32, Y:-84.55, Z:-47.07 [[ 9.20933703e-01 3.63274810e-01 1.41111756e-01 2.70315398e+02] [-3.59235730e-01 9.31681565e-01 -5.40291766e-02 -8.45477755e+01] [-1.51098660e-01 -9.35094990e-04 9.88518245e-01 -4.70686167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.34, Y:-84.56, Z:-47.07 [[ 9.21474610e-01 3.61960204e-01 1.40958695e-01 2.70344778e+02] [-3.57917407e-01 9.32193258e-01 -5.39523880e-02 -8.45592726e+01] [-1.50929362e-01 -7.35814928e-04 9.88544276e-01 -4.70737483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.37, Y:-84.57, Z:-47.08 [[ 9.21735510e-01 3.61447359e-01 1.40568335e-01 2.70372881e+02] [-3.57416756e-01 9.32392309e-01 -5.38316235e-02 -8.45697540e+01] [-1.50522132e-01 -6.22959230e-04 9.88606443e-01 -4.70809302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.40, Y:-84.58, Z:-47.09 [[ 9.22066870e-01 3.60677124e-01 1.40373431e-01 2.70399438e+02] [-3.56644223e-01 9.32690621e-01 -5.37875834e-02 -8.45796995e+01] [-1.50324934e-01 -4.67624750e-04 9.88636534e-01 -4.70857394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.42, Y:-84.59, Z:-47.09 [[ 9.22864684e-01 3.58803283e-01 1.39932055e-01 2.70424883e+02] [-3.54775495e-01 9.33413186e-01 -5.36113106e-02 -8.45897604e+01] [-1.49850340e-01 -1.68478878e-04 9.88708677e-01 -4.70901277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.45, Y:-84.60, Z:-47.09 [[ 9.23347730e-01 3.57591433e-01 1.39847546e-01 2.70450796e+02] [-3.53556113e-01 9.33878133e-01 -5.35696601e-02 -8.45993494e+01] [-1.49756616e-01 1.94695402e-05 9.88722891e-01 -4.70946641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.48, Y:-84.61, Z:-47.10 [[ 9.24156447e-01 3.55437789e-01 1.39995858e-01 2.70478528e+02] [-3.51371149e-01 9.34699872e-01 -5.36140408e-02 -8.46111863e+01] [-1.49910567e-01 3.57255950e-04 9.88699496e-01 -4.70995902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.51, Y:-84.62, Z:-47.10 [[ 9.24530801e-01 3.54389544e-01 1.40181488e-01 2.70506384e+02] [-3.50300064e-01 9.35097734e-01 -5.36851313e-02 -8.46229023e+01] [-1.50108841e-01 5.27973201e-04 9.88669337e-01 -4.71048912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.54, Y:-84.63, Z:-47.11 [[ 9.24791990e-01 3.53708074e-01 1.40179791e-01 2.70535185e+02] [-3.49610985e-01 9.35355650e-01 -5.36839623e-02 -8.46348058e+01] [-1.50106410e-01 6.38103502e-04 9.88669641e-01 -4.71096155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.56, Y:-84.65, Z:-47.11 [[ 9.25033411e-01 3.52745946e-01 1.41008817e-01 2.70564117e+02] [-3.48588244e-01 9.35718790e-01 -5.40053949e-02 -8.46468055e+01] [-1.50994784e-01 8.02778766e-04 9.88534234e-01 -4.71140885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10587156 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:270.59, Y:-84.66, Z:-47.12 [[ 9.25082455e-01 3.52336594e-01 1.41708773e-01 2.70591755e+02] [-3.48131845e-01 9.35872937e-01 -5.42776643e-02 -8.46584281e+01] [-1.51745413e-01 8.77978337e-04 9.88419222e-01 -4.71169495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.62, Y:-84.67, Z:-47.12 [[ 9.25304856e-01 3.51790178e-01 1.41614245e-01 2.70618484e+02] [-3.47584335e-01 9.36078379e-01 -5.42438807e-02 -8.46689348e+01] [-1.51644498e-01 9.69232856e-04 9.88434625e-01 -4.71235185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:-84.68, Z:-47.13 [[ 9.25399834e-01 3.51470630e-01 1.41786968e-01 2.70648729e+02] [-3.47251656e-01 9.36198356e-01 -5.43040125e-02 -8.46819416e+01] [-1.51826992e-01 1.01716476e-03 9.88406561e-01 -4.71284869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:270.68, Y:-84.69, Z:-47.13 [[ 9.25206260e-01 3.51851513e-01 1.42105201e-01 2.70678034e+02] [-3.47612920e-01 9.36055307e-01 -5.44584309e-02 -8.46947573e+01] [-1.52179609e-01 9.87677169e-04 9.88352362e-01 -4.71324578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:-84.71, Z:-47.14 [[ 9.24917903e-01 3.52618912e-01 1.42080171e-01 2.70707331e+02] [-3.48386219e-01 9.35766590e-01 -5.44787177e-02 -8.47082115e+01] [-1.52164103e-01 8.89567778e-04 9.88354842e-01 -4.71392556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.74, Y:-84.72, Z:-47.14 [[ 9.24746247e-01 3.53234632e-01 1.41667476e-01 2.70736947e+02] [-3.49028921e-01 9.35534408e-01 -5.43523997e-02 -8.47199096e+01] [-1.51733948e-01 8.16131305e-04 9.88421035e-01 -4.71446849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28587156000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:270.77, Y:-84.73, Z:-47.15 [[ 9.24472342e-01 3.54010417e-01 1.41518600e-01 2.70767917e+02] [-3.49818126e-01 9.35241205e-01 -5.43246399e-02 -8.47322763e+01] [-1.51585515e-01 7.15855525e-04 9.88443888e-01 -4.71480334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.80, Y:-84.75, Z:-47.16 [[ 9.23850464e-01 3.55480826e-01 1.41893281e-01 2.70797693e+02] [-3.51278471e-01 9.34683436e-01 -5.45005514e-02 -8.47453118e+01] [-1.51999201e-01 5.06304810e-04 9.88380487e-01 -4.71550067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.83, Y:-84.76, Z:-47.16 [[ 9.23345819e-01 3.56620769e-01 1.42316991e-01 2.70827086e+02] [-3.52401569e-01 9.34249166e-01 -5.46957921e-02 -8.47570770e+01] [-1.52465186e-01 3.50399888e-04 9.88308780e-01 -4.71604074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:-84.77, Z:-47.17 [[ 9.23371585e-01 3.56558702e-01 1.42305333e-01 2.70854108e+02] [-3.52334097e-01 9.34272839e-01 -5.47261096e-02 -8.47673308e+01] [-1.52465078e-01 3.93513685e-04 9.88308780e-01 -4.71653988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:-84.78, Z:-47.17 [[ 9.22817167e-01 3.57940597e-01 1.42432459e-01 2.70883316e+02] [-3.53727327e-01 9.33744347e-01 -5.47583058e-02 -8.47791350e+01] [-1.52595724e-01 1.49651558e-04 9.88288684e-01 -4.71710638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:-84.79, Z:-47.18 [[ 9.22602752e-01 3.58650243e-01 1.42035792e-01 2.70913410e+02] [-3.54464615e-01 9.33472013e-01 -5.46336599e-02 -8.47906343e+01] [-1.52180812e-01 5.85026999e-05 9.88352668e-01 -4.71764017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:-84.80, Z:-47.18 [[ 9.22373121e-01 3.59383523e-01 1.41673249e-01 2.70941137e+02] [-3.55223219e-01 9.33189950e-01 -5.45250624e-02 -8.48010900e+01] [-1.51803461e-01 -3.31756057e-05 9.88410698e-01 -4.71810600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:-84.81, Z:-47.19 [[ 9.21626321e-01 3.61391501e-01 1.41425273e-01 2.70968086e+02] [-3.57268899e-01 9.32414100e-01 -5.44323462e-02 -8.48097718e+01] [-1.51538306e-01 -3.60568629e-04 9.88451320e-01 -4.71857783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:-84.82, Z:-47.19 [[ 9.21202515e-01 3.62441858e-01 1.41498500e-01 2.70995517e+02] [-3.58327918e-01 9.32006229e-01 -5.44563351e-02 -8.48193070e+01] [-1.51614738e-01 -5.37549970e-04 9.88439519e-01 -4.71904848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:-84.83, Z:-47.19 [[ 9.20410857e-01 3.64178262e-01 1.42190183e-01 2.71022861e+02] [-3.60044845e-01 9.31328891e-01 -5.47193345e-02 -8.48263136e+01] [-1.52353418e-01 -8.30573006e-04 9.88325729e-01 -4.71943487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:-84.84, Z:-47.20 [[ 9.20052769e-01 3.64766127e-01 1.42998512e-01 2.71048497e+02] [-3.60594044e-01 9.31098696e-01 -5.50195676e-02 -8.48354966e+01] [-1.53215002e-01 -9.43506071e-04 9.88192427e-01 -4.71989418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.08, Y:-84.85, Z:-47.20 [[ 9.19960536e-01 3.64877697e-01 1.43306941e-01 2.71076391e+02] [-3.60690455e-01 9.31054949e-01 -5.51278308e-02 -8.48453849e+01] [-1.53541553e-01 -9.74017113e-04 9.88141712e-01 -4.72039491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:-84.85, Z:-47.21 [[ 9.20147852e-01 3.64760523e-01 1.42399762e-01 2.71105726e+02] [-3.60625718e-01 9.31100883e-01 -5.47744236e-02 -8.48539602e+01] [-1.52568092e-01 -9.52448228e-04 9.88292502e-01 -4.72091269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.13, Y:-84.86, Z:-47.21 [[ 9.20392114e-01 3.64257203e-01 1.42109273e-01 2.71132497e+02] [-3.60133273e-01 9.31297986e-01 -5.46633935e-02 -8.48627758e+01] [-1.52257615e-01 -8.66521442e-04 9.88340461e-01 -4.72139172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.16, Y:-84.87, Z:-47.22 [[ 9.20872934e-01 3.63139506e-01 1.41854639e-01 2.71158433e+02] [-3.59018092e-01 9.31734527e-01 -5.45598778e-02 -8.48704301e+01] [-1.51983713e-01 -6.85667317e-04 9.88382760e-01 -4.72187244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:-84.88, Z:-47.22 [[ 9.21267646e-01 3.62185052e-01 1.41731833e-01 2.71186645e+02] [-3.58061241e-01 9.32106055e-01 -5.45018271e-02 -8.48800327e+01] [-1.51848847e-01 -5.37906053e-04 9.88403581e-01 -4.72235536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:-84.89, Z:-47.23 [[ 9.21801828e-01 3.60804079e-01 1.41780839e-01 2.71214325e+02] [-3.56661113e-01 9.32641582e-01 -5.45209146e-02 -8.48890742e+01] [-1.51902074e-01 -3.10232943e-04 9.88395500e-01 -4.72285259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:-84.90, Z:-47.23 [[ 9.22907254e-01 3.57603710e-01 1.42694733e-01 2.71241819e+02] [-3.53369086e-01 9.33873407e-01 -5.48702925e-02 -8.48979501e+01] [-1.52880636e-01 2.16283598e-04 9.88244638e-01 -4.72335094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:-84.91, Z:-47.24 [[ 9.23544690e-01 3.55785445e-01 1.43115067e-01 2.71268899e+02] [-3.51504283e-01 9.34567520e-01 -5.50298977e-02 -8.49085550e+01] [-1.53329530e-01 5.17010869e-04 9.88174978e-01 -4.72380277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.30, Y:-84.92, Z:-47.24 [[ 9.25126221e-01 3.51565093e-01 1.43329904e-01 2.71295711e+02] [-3.47220867e-01 9.36162649e-01 -5.51104806e-02 -8.49192727e+01] [-1.53555024e-01 1.21701694e-03 9.88139349e-01 -4.72427512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:-84.93, Z:-47.25 [[ 9.25755129e-01 3.49985442e-01 1.43135010e-01 2.71325687e+02] [-3.45635209e-01 9.36753983e-01 -5.50297856e-02 -8.49316111e+01] [-1.53341915e-01 1.47160710e-03 9.88172096e-01 -4.72483981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:271.36, Y:-84.94, Z:-47.25 [[ 9.26367085e-01 3.48578631e-01 1.42607723e-01 2.71356279e+02] [-3.44238991e-01 9.37277947e-01 -5.48595295e-02 -8.49448805e+01] [-1.52785933e-01 1.72892388e-03 9.88257795e-01 -4.72521602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.39, Y:-84.96, Z:-47.26 [[ 9.27319739e-01 3.46412252e-01 1.41692106e-01 2.71385584e+02] [-3.42098422e-01 9.38080023e-01 -5.45393443e-02 -8.49578994e+01] [-1.51811631e-01 2.10276485e-03 9.88407207e-01 -4.72599911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.42, Y:-84.97, Z:-47.27 [[ 9.27408583e-01 3.46251352e-01 1.41503783e-01 2.71415016e+02] [-3.41942175e-01 9.38139301e-01 -5.44995557e-02 -8.49696294e+01] [-1.51620805e-01 2.15724436e-03 9.88436380e-01 -4.72651973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.45, Y:-84.98, Z:-47.27 [[ 9.27385729e-01 3.46401709e-01 1.41285403e-01 2.71445403e+02] [-3.42103064e-01 9.38083792e-01 -5.44453173e-02 -8.49821162e+01] [-1.51397498e-01 2.15764094e-03 9.88470608e-01 -4.72711654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:-85.00, Z:-47.28 [[ 9.27159651e-01 3.47246381e-01 1.40694463e-01 2.71474503e+02] [-3.42988624e-01 9.37771712e-01 -5.42496154e-02 -8.49965433e+01] [-1.50777270e-01 2.04145434e-03 9.88565652e-01 -4.72765154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.50, Y:-85.01, Z:-47.28 [[ 9.26908962e-01 3.47821993e-01 1.40924224e-01 2.71503800e+02] [-3.43551686e-01 9.37558494e-01 -5.43719651e-02 -8.50095069e+01] [-1.51036469e-01 1.98310702e-03 9.88526202e-01 -4.72820053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:-85.02, Z:-47.29 [[ 9.25841055e-01 3.50207082e-01 1.42032889e-01 2.71533550e+02] [-3.45893851e-01 9.36670892e-01 -5.48186519e-02 -8.50222660e+01] [-1.52235953e-01 1.62505545e-03 9.88342842e-01 -4.72865841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:-85.03, Z:-47.29 [[ 9.25137327e-01 3.51974569e-01 1.42249178e-01 2.71563228e+02] [-3.47663789e-01 9.36008564e-01 -5.49350287e-02 -8.50337596e+01] [-1.52482182e-01 1.36755723e-03 9.88305274e-01 -4.72915436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:-85.05, Z:-47.30 [[ 9.24279440e-01 3.54296592e-01 1.42061403e-01 2.71593248e+02] [-3.50019861e-01 9.35132558e-01 -5.48925798e-02 -8.50459917e+01] [-1.52294498e-01 1.01177017e-03 9.88334641e-01 -4.72962521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.62, Y:-85.06, Z:-47.30 [[ 9.21738606e-01 3.60490344e-01 1.42984808e-01 2.71620451e+02] [-3.56225746e-01 9.32762945e-01 -5.52856771e-02 -8.50575738e+01] [-1.53300884e-01 2.40729234e-05 9.88179558e-01 -4.73006292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.65, Y:-85.07, Z:-47.30 [[ 9.20356372e-01 3.63980044e-01 1.43047812e-01 2.71648356e+02] [-3.59753085e-01 9.31406582e-01 -5.53127265e-02 -8.50679495e+01] [-1.53368403e-01 -5.54471504e-04 9.88168926e-01 -4.73033167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.67, Y:-85.08, Z:-47.31 [[ 9.18918612e-01 3.67443609e-01 1.43435626e-01 2.71674037e+02] [-3.63235960e-01 9.30045105e-01 -5.54593498e-02 -8.50771249e+01] [-1.53779786e-01 -1.13834855e-03 9.88104489e-01 -4.73104692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.27587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.70, Y:-85.09, Z:-47.31 [[ 9.16178487e-01 3.74376317e-01 1.43036195e-01 2.71700807e+02] [-3.70277650e-01 9.27273996e-01 -5.52937434e-02 -8.50872639e+01] [-1.53334412e-01 -2.30416807e-03 9.88171670e-01 -4.73126072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.73, Y:-85.10, Z:-47.32 [[ 9.14878690e-01 3.77391924e-01 1.43430535e-01 2.71727775e+02] [-3.73308514e-01 9.26049328e-01 -5.54382167e-02 -8.50950676e+01] [-1.53745686e-01 -2.82459671e-03 9.88106414e-01 -4.73202287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.76, Y:-85.10, Z:-47.33 [[ 9.12998689e-01 3.81715585e-01 1.43967382e-01 2.71755043e+02] [-3.77655874e-01 9.24272930e-01 -5.56380442e-02 -8.51000522e+01] [-1.54303062e-01 -3.57266603e-03 9.88017106e-01 -4.73254663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:-85.11, Z:-47.33 [[ 9.12474861e-01 3.82940401e-01 1.44035684e-01 2.71781061e+02] [-3.78893874e-01 9.23765264e-01 -5.56522181e-02 -8.51085248e+01] [-1.54366645e-01 -3.79298847e-03 9.88006352e-01 -4.73303311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.81, Y:-85.12, Z:-47.33 [[ 9.12305276e-01 3.83528512e-01 1.43544289e-01 2.71806405e+02] [-3.79518466e-01 9.23520851e-01 -5.54524260e-02 -8.51165231e+01] [-1.53833730e-01 -3.88816746e-03 9.88089098e-01 -4.73348046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:-85.12, Z:-47.34 [[ 9.12561618e-01 3.83118548e-01 1.43008642e-01 2.71834270e+02] [-3.79135663e-01 9.23691294e-01 -5.52317212e-02 -8.51216046e+01] [-1.53256134e-01 -3.81732716e-03 9.88179126e-01 -4.73395687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:-85.13, Z:-47.34 [[ 9.13021152e-01 3.81977852e-01 1.43126856e-01 2.71861045e+02] [-3.77976245e-01 9.24164310e-01 -5.52655977e-02 -8.51294311e+01] [-1.53382966e-01 -3.63989173e-03 9.88160117e-01 -4.73446600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.89, Y:-85.14, Z:-47.35 [[ 9.14638768e-01 3.78060270e-01 1.43200404e-01 2.71888428e+02] [-3.74008630e-01 9.25776140e-01 -5.52818566e-02 -8.51380810e+01] [-1.53471391e-01 -2.99525758e-03 9.88148552e-01 -4.73474720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51587156 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:271.91, Y:-85.15, Z:-47.35 [[ 9.15677213e-01 3.75348605e-01 1.43696437e-01 2.71914393e+02] [-3.71236731e-01 9.26880190e-01 -5.54653344e-02 -8.51467433e+01] [-1.54008217e-01 -2.55705273e-03 9.88066258e-01 -4.73508488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.94, Y:-85.15, Z:-47.36 [[ 9.16722079e-01 3.72532124e-01 1.44362207e-01 2.71939525e+02] [-3.68348668e-01 9.28016915e-01 -5.57123367e-02 -8.51546954e+01] [-1.54725205e-01 -2.10289755e-03 9.87955307e-01 -4.73580537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.97, Y:-85.16, Z:-47.36 [[ 9.18090066e-01 3.69230955e-01 1.44149687e-01 2.71966102e+02] [-3.65021573e-01 9.29336364e-01 -5.56163106e-02 -8.51637005e+01] [-1.54498810e-01 -1.55696327e-03 9.87991748e-01 -4.73629517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.99, Y:-85.17, Z:-47.37 [[ 9.21018772e-01 3.62248626e-01 1.43179449e-01 2.71993006e+02] [-3.58013811e-01 9.32081423e-01 -5.52298164e-02 -8.51720959e+01] [-1.53461829e-01 -3.92522400e-04 9.88154498e-01 -4.73669075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:-85.18, Z:-47.37 [[ 9.22386378e-01 3.58683109e-01 1.43352007e-01 2.72019711e+02] [-3.54396421e-01 9.33459367e-01 -5.52882130e-02 -8.51817101e+01] [-1.53644222e-01 1.93656263e-04 9.88126214e-01 -4.73730012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:-85.19, Z:-47.38 [[ 9.24893287e-01 3.51825963e-01 1.44190496e-01 2.72046442e+02] [-3.47406971e-01 9.36064481e-01 -5.56029196e-02 -8.51937452e+01] [-1.54534152e-01 1.33398369e-03 9.87986547e-01 -4.73774887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.07, Y:-85.21, Z:-47.38 [[ 9.25920011e-01 3.49005924e-01 1.44454137e-01 2.72074677e+02] [-3.44537276e-01 9.37118782e-01 -5.56996741e-02 -8.52056554e+01] [-1.54810201e-01 1.80360805e-03 9.87942584e-01 -4.73825908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:-85.22, Z:-47.39 [[ 9.27738567e-01 3.44045153e-01 1.44686158e-01 2.72103226e+02] [-3.39501733e-01 9.38949399e-01 -5.57906757e-02 -8.52196778e+01] [-1.55047493e-01 2.63795997e-03 9.87903495e-01 -4.73878082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:-85.23, Z:-47.39 [[ 9.28388321e-01 3.42210803e-01 1.44868535e-01 2.72130505e+02] [-3.37628366e-01 9.39618479e-01 -5.58945538e-02 -8.52325216e+01] [-1.55248872e-01 2.98012420e-03 9.87870896e-01 -4.73930620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78587156000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.16, Y:-85.25, Z:-47.40 [[ 9.28919141e-01 3.40843234e-01 1.44689733e-01 2.72159267e+02] [-3.36255745e-01 9.40114686e-01 -5.58251853e-02 -8.52458307e+01] [-1.55052579e-01 3.20432931e-03 9.87901022e-01 -4.73963719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.19, Y:-85.26, Z:-47.40 [[ 9.29031202e-01 3.40615564e-01 1.44506273e-01 2.72188381e+02] [-3.36036856e-01 9.40197078e-01 -5.57555977e-02 -8.52596739e+01] [-1.54855600e-01 3.23925633e-03 9.87931805e-01 -4.74031518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.22, Y:-85.27, Z:-47.41 [[ 9.28697333e-01 3.41528414e-01 1.44497770e-01 2.72218395e+02] [-3.36956273e-01 9.39866282e-01 -5.57838940e-02 -8.52728113e+01] [-1.54860367e-01 3.11692351e-03 9.87931451e-01 -4.74086203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.25, Y:-85.29, Z:-47.41 [[ 9.27576851e-01 3.44505107e-01 1.44628546e-01 2.72246954e+02] [-3.39955466e-01 9.38780694e-01 -5.58667213e-02 -8.52876451e+01] [-1.55020858e-01 2.65341261e-03 9.87907634e-01 -4.74140893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.28, Y:-85.30, Z:-47.42 [[ 9.26995968e-01 3.46384109e-01 1.43862866e-01 2.72277145e+02] [-3.41900686e-01 9.38089817e-01 -5.56005082e-02 -8.53009325e+01] [-1.54215422e-01 2.35463444e-03 9.88034442e-01 -4.74175195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.31, Y:-85.31, Z:-47.42 [[ 9.26091046e-01 3.48875057e-01 1.43671744e-01 2.72305080e+02] [-3.44428305e-01 9.37167179e-01 -5.55591774e-02 -8.53131156e+01] [-1.54027654e-01 1.96824146e-03 9.88064577e-01 -4.74247010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.33, Y:-85.33, Z:-47.43 [[ 9.24209313e-01 3.53669463e-01 1.44066156e-01 2.72331131e+02] [-3.49251389e-01 9.35369697e-01 -5.57404517e-02 -8.53253431e+01] [-1.54468812e-01 1.20053942e-03 9.87996936e-01 -4.74298155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:-85.34, Z:-47.43 [[ 9.23319313e-01 3.56006444e-01 1.44016868e-01 2.72358451e+02] [-3.51619917e-01 9.34483151e-01 -5.57196099e-02 -8.53366818e+01] [-1.54417877e-01 8.07792658e-04 9.88005297e-01 -4.74347028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.39, Y:-85.35, Z:-47.44 [[ 9.21468462e-01 3.60857634e-01 1.43797228e-01 2.72387683e+02] [-3.56543892e-01 9.32620913e-01 -5.56298950e-02 -8.53479421e+01] [-1.54182774e-01 -8.82938138e-06 9.88042343e-01 -4.74399330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.41, Y:-85.36, Z:-47.44 [[ 9.20529003e-01 3.63186854e-01 1.43950211e-01 2.72413654e+02] [-3.58891352e-01 9.31716241e-01 -5.56942011e-02 -8.53580053e+01] [-1.54348152e-01 -3.94358533e-04 9.88016443e-01 -4.74442103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.44, Y:-85.37, Z:-47.45 [[ 9.19672032e-01 3.65156196e-01 1.44444820e-01 2.72440152e+02] [-3.60856004e-01 9.30945979e-01 -5.58795943e-02 -8.53690022e+01] [-1.54875105e-01 -7.32880562e-04 9.87933786e-01 -4.74489987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.47, Y:-85.38, Z:-47.45 [[ 9.18991473e-01 3.66884829e-01 1.44395964e-01 2.72466264e+02] [-3.62609995e-01 9.30265800e-01 -5.58527791e-02 -8.53796887e+01] [-1.54818165e-01 -1.03119209e-03 9.87942444e-01 -4.74532861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.49, Y:-85.39, Z:-47.46 [[ 9.17734063e-01 3.69594268e-01 1.45479436e-01 2.72493416e+02] [-3.65289723e-01 9.29192018e-01 -5.62637720e-02 -8.53889875e+01] [-1.55973099e-01 -1.50696285e-03 9.87760154e-01 -4.74575900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:-85.40, Z:-47.46 [[ 9.17090164e-01 3.70736664e-01 1.46628640e-01 2.72519065e+02] [-3.66379212e-01 9.28736432e-01 -5.67002057e-02 -8.53977036e+01] [-1.57200205e-01 -1.72248489e-03 9.87565253e-01 -4.74621662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.55, Y:-85.41, Z:-47.46 [[ 9.16532040e-01 3.71896120e-01 1.47181163e-01 2.72545177e+02] [-3.67522200e-01 9.28272328e-01 -5.69026958e-02 -8.54072454e+01] [-1.57786093e-01 -1.93920116e-03 9.87471411e-01 -4.74645457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.57, Y:-85.42, Z:-47.47 [[ 9.16349533e-01 3.72180824e-01 1.47597316e-01 2.72571579e+02] [-3.67787306e-01 9.28158079e-01 -5.70532921e-02 -8.54172028e+01] [-1.58227782e-01 -2.00366160e-03 9.87400605e-01 -4.74715353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.60, Y:-85.43, Z:-47.48 [[ 9.16376388e-01 3.72113670e-01 1.47599903e-01 2.72598572e+02] [-3.67720364e-01 9.28185013e-01 -5.70465980e-02 -8.54275289e+01] [-1.58227837e-01 -1.99933477e-03 9.87400605e-01 -4.74765253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.63, Y:-85.44, Z:-47.48 [[ 9.16434792e-01 3.71983062e-01 1.47566507e-01 2.72626794e+02] [-3.67592210e-01 9.28237387e-01 -5.70203601e-02 -8.54368457e+01] [-1.58187357e-01 -1.98885646e-03 9.87407112e-01 -4.74816404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:-85.45, Z:-47.49 [[ 9.16638851e-01 3.71753898e-01 1.46874966e-01 2.72652755e+02] [-3.67401341e-01 9.28329294e-01 -5.67536546e-02 -8.54465670e+01] [-1.57446726e-01 -1.93945471e-03 9.87525578e-01 -4.74867672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35587156 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.68, Y:-85.46, Z:-47.49 [[ 9.16910336e-01 3.71459363e-01 1.45922508e-01 2.72679337e+02] [-3.67160658e-01 9.28447306e-01 -5.63795291e-02 -8.54563001e+01] [-1.56424064e-01 -1.88203134e-03 9.87688195e-01 -4.74897388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:-85.46, Z:-47.50 [[ 9.16872280e-01 3.71460280e-01 1.46159104e-01 2.72704094e+02] [-3.67148741e-01 9.28446918e-01 -5.64634580e-02 -8.54639050e+01] [-1.56674901e-01 -1.89235156e-03 9.87648416e-01 -4.74962930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:-85.47, Z:-47.50 [[ 9.16947994e-01 3.71229285e-01 1.46270964e-01 2.72730733e+02] [-3.66910479e-01 9.28539353e-01 -5.64922196e-02 -8.54731921e+01] [-1.56789913e-01 -1.86792219e-03 9.87630211e-01 -4.75013392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:-85.48, Z:-47.51 [[ 9.17165318e-01 3.70787041e-01 1.46029960e-01 2.72757565e+02] [-3.66478232e-01 9.28716180e-01 -5.63911651e-02 -8.54826989e+01] [-1.56529500e-01 -1.79678086e-03 9.87671649e-01 -4.75065109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:-85.49, Z:-47.51 [[ 9.17832617e-01 3.69264467e-01 1.45695025e-01 2.72783812e+02] [-3.64957712e-01 9.29323076e-01 -5.62537944e-02 -8.54918709e+01] [-1.56170276e-01 -1.54095554e-03 9.87728946e-01 -4.75110241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:-85.50, Z:-47.52 [[ 9.18192726e-01 3.68291586e-01 1.45888405e-01 2.72810209e+02] [-3.63962766e-01 9.29709301e-01 -5.63180339e-02 -8.55014135e+01] [-1.56375265e-01 -1.38713838e-03 9.87696741e-01 -4.75156984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.84, Y:-85.51, Z:-47.52 [[ 9.18656365e-01 3.67020031e-01 1.46173801e-01 2.72836311e+02] [-3.62659451e-01 9.30212289e-01 -5.64200300e-02 -8.55105538e+01] [-1.56679948e-01 -1.18069090e-03 9.87648723e-01 -4.75207196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.86, Y:-85.52, Z:-47.53 [[ 9.19939669e-01 3.63773286e-01 1.46219020e-01 2.72862140e+02] [-3.59370824e-01 9.31487300e-01 -5.64271261e-02 -8.55192404e+01] [-1.56727841e-01 -6.37297846e-04 9.87641624e-01 -4.75255481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:-85.53, Z:-47.53 [[ 9.20718949e-01 3.61882674e-01 1.46005296e-01 2.72888905e+02] [-3.57471145e-01 9.32223592e-01 -5.63343205e-02 -8.55292093e+01] [-1.56495996e-01 -3.24604056e-04 9.87678540e-01 -4.75304057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:-85.54, Z:-47.54 [[ 9.21441599e-01 3.60031809e-01 1.46022181e-01 2.72914933e+02] [-3.55597409e-01 9.32940028e-01 -5.63328149e-02 -8.55392644e+01] [-1.56511543e-01 -1.77102904e-05 9.87676129e-01 -4.75355583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:-85.55, Z:-47.54 [[ 9.22665254e-01 3.56910513e-01 1.45957920e-01 2.72943942e+02] [-3.52442625e-01 9.34138444e-01 -5.62988791e-02 -8.55503109e+01] [-1.56438566e-01 5.03227095e-04 9.87687563e-01 -4.75409797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:-85.56, Z:-47.55 [[ 9.23093397e-01 3.55760120e-01 1.46059293e-01 2.72971874e+02] [-3.51270972e-01 9.34577040e-01 -5.63423551e-02 -8.55608359e+01] [-1.56548025e-01 7.02866100e-04 9.87670098e-01 -4.75455851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.00, Y:-85.57, Z:-47.55 [[ 9.23646440e-01 3.54172709e-01 1.46420440e-01 2.72998335e+02] [-3.49640940e-01 9.35179522e-01 -5.64842927e-02 -8.55724232e+01] [-1.56934592e-01 9.76935665e-04 9.87608515e-01 -4.75481124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74587156 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:273.02, Y:-85.58, Z:-47.55 [[ 9.23745751e-01 3.53910354e-01 1.46428307e-01 2.73024569e+02] [-3.49375459e-01 9.35278796e-01 -5.64833031e-02 -8.55826775e+01] [-1.56941316e-01 1.01775451e-03 9.87607406e-01 -4.75520132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:-85.59, Z:-47.56 [[ 9.23541271e-01 3.54241484e-01 1.46916617e-01 2.73050476e+02] [-3.49681513e-01 9.35153492e-01 -5.66637876e-02 -8.55922561e+01] [-1.57462251e-01 9.57321544e-04 9.87524543e-01 -4.75583452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:-85.60, Z:-47.56 [[ 9.22973160e-01 3.55223316e-01 1.48111249e-01 2.73077632e+02] [-3.50602603e-01 9.34781138e-01 -5.71142578e-02 -8.56010432e+01] [-1.58739918e-01 7.86737710e-04 9.87320120e-01 -4.75629597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:-85.61, Z:-47.57 [[ 9.22740552e-01 3.55752898e-01 1.48289409e-01 2.73104416e+02] [-3.51129125e-01 9.34579799e-01 -5.71746138e-02 -8.56114610e+01] [-1.58928320e-01 6.88604391e-04 9.87289884e-01 -4.75680681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.13, Y:-85.62, Z:-47.57 [[ 9.22517845e-01 3.56346742e-01 1.48249201e-01 2.73130476e+02] [-3.51733768e-01 9.34353606e-01 -5.71550154e-02 -8.56237151e+01] [-1.58884179e-01 5.82271727e-04 9.87297057e-01 -4.75732110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:-85.63, Z:-47.58 [[ 9.22510459e-01 3.56247222e-01 1.48534071e-01 2.73156717e+02] [-3.51615744e-01 9.34391545e-01 -5.72608804e-02 -8.56340755e+01] [-1.59188010e-01 5.96843082e-04 9.87248105e-01 -4.75779032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.19, Y:-85.64, Z:-47.58 [[ 9.22470996e-01 3.56387416e-01 1.48442821e-01 2.73185992e+02] [-3.51764566e-01 9.34338102e-01 -5.72188808e-02 -8.56447999e+01] [-1.59087873e-01 5.65833329e-04 9.87264265e-01 -4.75819683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.22, Y:-85.66, Z:-47.59 [[ 9.22398646e-01 3.57035946e-01 1.47329807e-01 2.73215921e+02] [-3.52490531e-01 9.34090536e-01 -5.67916970e-02 -8.56555511e+01] [-1.57896056e-01 4.52222515e-04 9.87455635e-01 -4.75890677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.24, Y:-85.67, Z:-47.59 [[ 9.22214091e-01 3.57524959e-01 1.47299269e-01 2.73244712e+02] [-3.52982141e-01 9.33903498e-01 -5.68143084e-02 -8.56674965e+01] [-1.57875836e-01 4.00944565e-04 9.87458890e-01 -4.75940278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.27, Y:-85.68, Z:-47.60 [[ 9.21923145e-01 3.58113743e-01 1.47689748e-01 2.73270538e+02] [-3.53549318e-01 9.33677909e-01 -5.69950988e-02 -8.56782648e+01] [-1.58305383e-01 3.29491028e-04 9.87390144e-01 -4.75984383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.30, Y:-85.69, Z:-47.60 [[ 9.20889053e-01 3.60424991e-01 1.48516594e-01 2.73297606e+02] [-3.55839800e-01 9.32788197e-01 -5.73080831e-02 -8.56880294e+01] [-1.59189791e-01 -7.37285894e-05 9.87247996e-01 -4.76018088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.33, Y:-85.70, Z:-47.61 [[ 9.19310970e-01 3.63981357e-01 1.49615880e-01 2.73325243e+02] [-3.59375705e-01 9.31405969e-01 -5.77236872e-02 -8.56967469e+01] [-1.60363469e-01 -7.02293392e-04 9.87057782e-01 -4.76068355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.35, Y:-85.71, Z:-47.61 [[ 9.18689617e-01 3.65677159e-01 1.49297033e-01 2.73351890e+02] [-3.61114146e-01 9.30741218e-01 -5.75965118e-02 -8.57063201e+01] [-1.60018631e-01 -9.99953150e-04 9.87113488e-01 -4.76116885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.38, Y:-85.72, Z:-47.62 [[ 9.18128629e-01 3.67211188e-01 1.48982432e-01 2.73379109e+02] [-3.62688567e-01 9.30136726e-01 -5.74688927e-02 -8.57157872e+01] [-1.59677252e-01 -1.27038917e-03 9.87168456e-01 -4.76168704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:-85.73, Z:-47.62 [[ 9.17608314e-01 3.68525740e-01 1.48942142e-01 2.73406291e+02] [-3.64024085e-01 9.29616324e-01 -5.74452405e-02 -8.57251207e+01] [-1.59629096e-01 -1.50629668e-03 9.87175913e-01 -4.76222524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:-85.73, Z:-47.63 [[ 9.16866929e-01 3.70347702e-01 1.48988636e-01 2.73432592e+02] [-3.65868420e-01 9.28891395e-01 -5.74549832e-02 -8.57347220e+01] [-1.59672583e-01 -1.83166292e-03 9.87168330e-01 -4.76279213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.46, Y:-85.74, Z:-47.63 [[ 9.16774799e-01 3.70650950e-01 1.48801348e-01 2.73458531e+02] [-3.66188298e-01 9.28770317e-01 -5.73744609e-02 -8.57446961e+01] [-1.59468173e-01 -1.88985235e-03 9.87201261e-01 -4.76321549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:-85.75, Z:-47.64 [[ 9.16734691e-01 3.70863672e-01 1.48518156e-01 2.73486166e+02] [-3.66422577e-01 9.28685307e-01 -5.72546519e-02 -8.57535152e+01] [-1.59160300e-01 -1.93307986e-03 9.87250861e-01 -4.76366621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:-85.76, Z:-47.64 [[ 9.16765811e-01 3.70883333e-01 1.48276772e-01 2.73512345e+02] [-3.66458319e-01 9.28677439e-01 -5.71534312e-02 -8.57624869e+01] [-1.58898548e-01 -1.94094477e-03 9.87293008e-01 -4.76418182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.54, Y:-85.77, Z:-47.65 [[ 9.16875360e-01 3.70778680e-01 1.47860555e-01 2.73539196e+02] [-3.66378939e-01 9.28719256e-01 -5.69825934e-02 -8.57723623e+01] [-1.58448876e-01 -1.92705757e-03 9.87365302e-01 -4.76470364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.57, Y:-85.78, Z:-47.65 [[ 9.17184215e-01 3.70093323e-01 1.47661936e-01 2.73565471e+02] [-3.65697956e-01 9.28992810e-01 -5.68978297e-02 -8.57819653e+01] [-1.58234384e-01 -1.81387707e-03 9.87399914e-01 -4.76518439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.59, Y:-85.79, Z:-47.66 [[ 9.17460956e-01 3.69475763e-01 1.47489166e-01 2.73592415e+02] [-3.65084112e-01 9.29238788e-01 -5.68231062e-02 -8.57915311e+01] [-1.58047414e-01 -1.71296976e-03 9.87430038e-01 -4.76568463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.62, Y:-85.80, Z:-47.66 [[ 9.17979044e-01 3.67811531e-01 1.48422210e-01 2.73619278e+02] [-3.63343529e-01 9.29899238e-01 -5.71741784e-02 -8.58000627e+01] [-1.59047022e-01 -1.44355188e-03 9.87269953e-01 -4.76616914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.65, Y:-85.81, Z:-47.67 [[ 9.18425998e-01 3.66737986e-01 1.48313640e-01 2.73645121e+02] [-3.62263971e-01 9.30323412e-01 -5.71241145e-02 -8.58096843e+01] [-1.58929234e-01 -1.26441633e-03 9.87289167e-01 -4.76657367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.67, Y:-85.82, Z:-47.67 [[ 9.18866950e-01 3.65589091e-01 1.48418817e-01 2.73671370e+02] [-3.61095497e-01 9.30775729e-01 -5.71540366e-02 -8.58199262e+01] [-1.59039525e-01 -1.07641118e-03 9.87271630e-01 -4.76709248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.70, Y:-85.83, Z:-47.68 [[ 9.19743457e-01 3.63695270e-01 1.47640522e-01 2.73696648e+02] [-3.59226007e-01 9.31517678e-01 -5.68462072e-02 -8.58300675e+01] [-1.58204453e-01 -7.52388228e-04 9.87406089e-01 -4.76755801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.72, Y:-85.84, Z:-47.68 [[ 9.19914251e-01 3.63125997e-01 1.47977299e-01 2.73723761e+02] [-3.58630563e-01 9.31739806e-01 -5.69653624e-02 -8.58398426e+01] [-1.58561944e-01 -6.65933526e-04 9.87348807e-01 -4.76806560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.75, Y:-85.85, Z:-47.69 [[ 9.20059466e-01 3.62771393e-01 1.47944233e-01 2.73748994e+02] [-3.58274718e-01 9.31877965e-01 -5.69445742e-02 -8.58494906e+01] [-1.58523833e-01 -6.12283984e-04 9.87354961e-01 -4.76852019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.78, Y:-85.86, Z:-47.69 [[ 9.20297229e-01 3.62240494e-01 1.47766149e-01 2.73775994e+02] [-3.57749649e-01 9.32084515e-01 -5.68651577e-02 -8.58593919e+01] [-1.58329403e-01 -5.30440991e-04 9.87386206e-01 -4.76879400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.80, Y:-85.87, Z:-47.69 [[ 9.20296169e-01 3.61976542e-01 1.48418142e-01 2.73802770e+02] [-3.57443634e-01 9.32187072e-01 -5.71078884e-02 -8.58691108e+01] [-1.59025189e-01 -4.94949113e-04 9.87274402e-01 -4.76945875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.83, Y:-85.88, Z:-47.70 [[ 9.20615327e-01 3.61034376e-01 1.48733317e-01 2.73828528e+02] [-3.56471160e-01 9.32552445e-01 -5.72210497e-02 -8.58792458e+01] [-1.59360384e-01 -3.40562508e-04 9.87220417e-01 -4.76988898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.85, Y:-85.89, Z:-47.70 [[ 9.20873163e-01 3.60420438e-01 1.48626127e-01 2.73854618e+02] [-3.55857555e-01 9.32789927e-01 -5.71695004e-02 -8.58893951e+01] [-1.59242011e-01 -2.43871642e-04 9.87239547e-01 -4.77034803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.88, Y:-85.90, Z:-47.71 [[ 9.21060450e-01 3.59962841e-01 1.48574559e-01 2.73880724e+02] [-3.55398483e-01 9.32966625e-01 -5.71418831e-02 -8.58990864e+01] [-1.59184059e-01 -1.72044357e-04 9.87248908e-01 -4.77083317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.91, Y:-85.91, Z:-47.71 [[ 9.21175008e-01 3.59579899e-01 1.48791468e-01 2.73905882e+02] [-3.54999127e-01 9.33114292e-01 -5.72130837e-02 -8.59095288e+01] [-1.59412120e-01 -1.17578414e-04 9.87212116e-01 -4.77131556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:-85.92, Z:-47.72 [[ 9.21244359e-01 3.59520439e-01 1.48505504e-01 2.73931401e+02] [-3.54958182e-01 9.33137204e-01 -5.70933295e-02 -8.59197681e+01] [-1.59102229e-01 -1.16335815e-04 9.87262107e-01 -4.77178352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.96, Y:-85.93, Z:-47.72 [[ 9.21240102e-01 3.59590563e-01 1.48362063e-01 2.73958331e+02] [-3.55040037e-01 9.33110180e-01 -5.70260006e-02 -8.59302915e+01] [-1.58944163e-01 -1.39833733e-04 9.87287564e-01 -4.77227537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.98, Y:-85.94, Z:-47.73 [[ 9.21190976e-01 3.59507436e-01 1.48867691e-01 2.73982991e+02] [-3.54925760e-01 9.33142211e-01 -5.72129271e-02 -8.59398171e+01] [-1.59483200e-01 -1.32946393e-04 9.87200634e-01 -4.77269199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.01, Y:-85.95, Z:-47.73 [[ 9.21071486e-01 3.59609728e-01 1.49359166e-01 2.74008408e+02] [-3.55001744e-01 9.33102789e-01 -5.73842021e-02 -8.59496267e+01] [-1.60003371e-01 -1.67812056e-04 9.87116454e-01 -4.77314990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.03, Y:-85.96, Z:-47.74 [[ 9.20933818e-01 3.59759858e-01 1.49845744e-01 2.74033703e+02] [-3.55125491e-01 9.33044909e-01 -5.75593898e-02 -8.59592375e+01] [-1.60520367e-01 -2.05654886e-04 9.87032507e-01 -4.77352868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.06, Y:-85.97, Z:-47.74 [[ 9.20910180e-01 3.59687841e-01 1.50163570e-01 2.74059233e+02] [-3.55034972e-01 9.33072674e-01 -5.76676222e-02 -8.59693121e+01] [-1.60855866e-01 -2.06618389e-04 9.86977886e-01 -4.77399981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.08, Y:-85.98, Z:-47.74 [[ 9.20972589e-01 3.59447399e-01 1.50356434e-01 2.74084492e+02] [-3.54781222e-01 9.33165332e-01 -5.77299635e-02 -8.59800637e+01] [-1.61058297e-01 -1.75925473e-04 9.86944879e-01 -4.77447799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:-85.99, Z:-47.75 [[ 9.21085400e-01 3.58995980e-01 1.50743400e-01 2.74109401e+02] [-3.54301495e-01 9.33339099e-01 -5.78668830e-02 -8.59905006e+01] [-1.61468688e-01 -1.08271094e-04 9.86877830e-01 -4.77492968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.14, Y:-86.00, Z:-47.75 [[ 9.21273437e-01 3.58334952e-01 1.51166518e-01 2.74135516e+02] [-3.53607310e-01 9.33593092e-01 -5.80155857e-02 -8.60009251e+01] [-1.61917029e-01 -5.36773739e-06 9.86804376e-01 -4.77537300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.16, Y:-86.01, Z:-47.76 [[ 9.21511970e-01 3.57745388e-01 1.51108987e-01 2.74160298e+02] [-3.53015390e-01 9.33819163e-01 -5.79819331e-02 -8.60113020e+01] [-1.61851237e-01 8.72473614e-05 9.86815165e-01 -4.77584138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.19, Y:-86.02, Z:-47.76 [[ 9.21814171e-01 3.57039966e-01 1.50934081e-01 2.74186696e+02] [-3.52313854e-01 9.34089088e-01 -5.79009915e-02 -8.60228582e+01] [-1.61658846e-01 1.97786610e-04 9.86846684e-01 -4.77635393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:-86.03, Z:-47.77 [[ 9.22422580e-01 3.55716955e-01 1.50339723e-01 2.74212127e+02] [-3.51012071e-01 9.34593640e-01 -5.76650205e-02 -8.60339220e+01] [-1.61018974e-01 4.20459573e-04 9.86951221e-01 -4.77691681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:-86.05, Z:-47.77 [[ 9.22749547e-01 3.55046208e-01 1.49918192e-01 2.74238334e+02] [-3.50360846e-01 9.34848605e-01 -5.74922868e-02 -8.60452414e+01] [-1.60563231e-01 5.25516885e-04 9.87025416e-01 -4.77739232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.26, Y:-86.06, Z:-47.78 [[ 9.23452312e-01 3.53455305e-01 1.49349169e-01 2.74263599e+02] [-3.48786331e-01 9.35451079e-01 -5.72658214e-02 -8.60585752e+01] [-1.59949749e-01 7.91306640e-04 9.87124841e-01 -4.77780173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.29, Y:-86.07, Z:-47.78 [[ 9.23471194e-01 3.53405141e-01 1.49351128e-01 2.74289866e+02] [-3.48736342e-01 9.35470029e-01 -5.72607101e-02 -8.60685035e+01] [-1.59949734e-01 7.94450176e-04 9.87124841e-01 -4.77828657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.31, Y:-86.08, Z:-47.79 [[ 9.23751138e-01 3.52856062e-01 1.48917542e-01 2.74314194e+02] [-3.48208872e-01 9.35677203e-01 -5.70854949e-02 -8.60786322e+01] [-1.59481712e-01 8.78381493e-04 9.87200492e-01 -4.77883471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.34, Y:-86.09, Z:-47.79 [[ 9.23875587e-01 3.52538399e-01 1.48897873e-01 2.74339747e+02] [-3.47890447e-01 9.35796895e-01 -5.70649437e-02 -8.60883271e+01] [-1.59455752e-01 9.20760670e-04 9.87204647e-01 -4.77927603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.37, Y:-86.10, Z:-47.80 [[ 9.24004081e-01 3.52017262e-01 1.49332867e-01 2.74365646e+02] [-3.47337005e-01 9.35992971e-01 -5.72203075e-02 -8.61004159e+01] [-1.59917050e-01 1.00296685e-03 9.87129946e-01 -4.77978912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.39, Y:-86.11, Z:-47.80 [[ 9.24046407e-01 3.51736597e-01 1.49731772e-01 2.74392660e+02] [-3.47028826e-01 9.36098430e-01 -5.73648210e-02 -8.61131836e+01] [-1.60340983e-01 1.04651567e-03 9.87061130e-01 -4.78027103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.42, Y:-86.13, Z:-47.81 [[ 9.23997725e-01 3.51740210e-01 1.50023425e-01 2.74419960e+02] [-3.47014004e-01 9.36097071e-01 -5.74765585e-02 -8.61257302e+01] [-1.60653306e-01 1.04797982e-03 9.87010343e-01 -4.78076769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:274.45, Y:-86.14, Z:-47.81 [[ 9.23984348e-01 3.51903013e-01 1.49723724e-01 2.74447366e+02] [-3.47197922e-01 9.36035915e-01 -5.73617378e-02 -8.61371680e+01] [-1.60332552e-01 1.01758194e-03 9.87062530e-01 -4.78123147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.47, Y:-86.15, Z:-47.82 [[ 9.23939417e-01 3.52300957e-01 1.49063710e-01 2.74473359e+02] [-3.47642703e-01 9.35886288e-01 -5.71087265e-02 -8.61501979e+01] [-1.59626141e-01 9.44092325e-04 9.87177088e-01 -4.78183833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.50, Y:-86.16, Z:-47.82 [[ 9.23763123e-01 3.52886142e-01 1.48771851e-01 2.74500210e+02] [-3.48253340e-01 9.35665891e-01 -5.69995810e-02 -8.61610015e+01] [-1.59315108e-01 8.43817060e-04 9.87227423e-01 -4.78232082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.53, Y:-86.17, Z:-47.83 [[ 9.23506260e-01 3.53656929e-01 1.48536071e-01 2.74527651e+02] [-3.49049441e-01 9.35374940e-01 -5.69052695e-02 -8.61714471e+01] [-1.59061861e-01 7.05940111e-04 9.87268366e-01 -4.78288121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.55, Y:-86.18, Z:-47.83 [[ 9.22878674e-01 3.55502300e-01 1.48030633e-01 2.74554015e+02] [-3.50950479e-01 9.34675328e-01 -5.67079652e-02 -8.61822330e+01] [-1.58520393e-01 3.83150110e-04 9.87355629e-01 -4.78340219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.58, Y:-86.19, Z:-47.84 [[ 9.22679350e-01 3.56205249e-01 1.47582647e-01 2.74581342e+02] [-3.51691355e-01 9.34407703e-01 -5.65281766e-02 -8.61935055e+01] [-1.58037995e-01 2.53840322e-04 9.87432999e-01 -4.78390671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.61, Y:-86.20, Z:-47.84 [[ 9.22480387e-01 3.56735748e-01 1.47545047e-01 2.74607075e+02] [-3.52231526e-01 9.34205321e-01 -5.65099239e-02 -8.62042017e+01] [-1.57996478e-01 1.59279449e-04 9.87439663e-01 -4.78442724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.63, Y:-86.21, Z:-47.85 [[ 9.22510226e-01 3.56447628e-01 1.48053946e-01 2.74632028e+02] [-3.51909320e-01 9.34315282e-01 -5.66990599e-02 -8.62148282e+01] [-1.58539309e-01 2.03899268e-04 9.87352645e-01 -4.78487406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.66, Y:-86.23, Z:-47.85 [[ 9.22800232e-01 3.55548221e-01 1.48408874e-01 2.74658795e+02] [-3.50978014e-01 9.34657873e-01 -5.68251136e-02 -8.62256889e+01] [-1.58915591e-01 3.49976159e-04 9.87292111e-01 -4.78532681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.69, Y:-86.24, Z:-47.86 [[ 9.23081023e-01 3.54571279e-01 1.48998767e-01 2.74685932e+02] [-3.49953079e-01 9.35028847e-01 -5.70429396e-02 -8.62367636e+01] [-1.59543933e-01 5.12677747e-04 9.87190696e-01 -4.78584062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.72, Y:-86.25, Z:-47.86 [[ 9.23743103e-01 3.52198763e-01 1.50514818e-01 2.74715452e+02] [-3.47455156e-01 9.35924769e-01 -5.76172005e-02 -8.62515822e+01] [-1.61163253e-01 9.26342171e-04 9.86927327e-01 -4.78629074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.75, Y:-86.27, Z:-47.87 [[ 9.24050167e-01 3.51185941e-01 1.50995775e-01 2.74745416e+02] [-3.46392798e-01 9.36305046e-01 -5.78350327e-02 -8.62655419e+01] [-1.61688956e-01 1.13862270e-03 9.86841114e-01 -4.78686567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.77, Y:-86.28, Z:-47.87 [[ 9.24350227e-01 3.50149829e-01 1.51564359e-01 2.74773287e+02] [-3.45300876e-01 9.36692722e-01 -5.80865693e-02 -8.62804069e+01] [-1.62308234e-01 1.35702769e-03 9.86739173e-01 -4.78731633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.80, Y:-86.29, Z:-47.88 [[ 9.24407353e-01 3.50031522e-01 1.51489206e-01 2.74803084e+02] [-3.45180709e-01 9.36736865e-01 -5.80889244e-02 -8.62934205e+01] [-1.62238479e-01 1.40667725e-03 9.86750575e-01 -4.78789104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.83, Y:-86.31, Z:-47.88 [[ 9.24407739e-01 3.50292142e-01 1.50883225e-01 2.74832497e+02] [-3.45478410e-01 9.36639468e-01 -5.78893382e-02 -8.63066411e+01] [-1.61601364e-01 1.38645555e-03 9.86855145e-01 -4.78844128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.86, Y:-86.32, Z:-47.89 [[ 9.24348460e-01 3.50993440e-01 1.49611264e-01 2.74860886e+02] [-3.46264816e-01 9.36377037e-01 -5.74345010e-02 -8.63209573e+01] [-1.60251685e-01 1.28437584e-03 9.87075351e-01 -4.78896681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.89, Y:-86.33, Z:-47.89 [[ 9.24129039e-01 3.51689117e-01 1.49332797e-01 2.74889496e+02] [-3.46984037e-01 9.36116110e-01 -5.73472381e-02 -8.63338261e+01] [-1.59961237e-01 1.18015111e-03 9.87122591e-01 -4.78948169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.92, Y:-86.35, Z:-47.90 [[ 9.23916208e-01 3.52296422e-01 1.49218201e-01 2.74919071e+02] [-3.47601607e-01 9.35887822e-01 -5.73333022e-02 -8.63469013e+01] [-1.59849815e-01 1.10268059e-03 9.87140730e-01 -4.79001163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.95, Y:-86.36, Z:-47.91 [[ 9.23280332e-01 3.53516958e-01 1.50263732e-01 2.74946548e+02] [-3.48766391e-01 9.35427655e-01 -5.77676988e-02 -8.63621935e+01] [-1.60982712e-01 9.28840596e-04 9.86956789e-01 -4.79055609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.97, Y:-86.38, Z:-47.91 [[ 9.22816347e-01 3.54178607e-01 1.51550338e-01 2.74974882e+02] [-3.49349574e-01 9.35177412e-01 -5.82930745e-02 -8.63785669e+01] [-1.62372613e-01 8.49755848e-04 9.86729148e-01 -4.79095516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.00, Y:-86.39, Z:-47.91 [[ 9.22417154e-01 3.55009472e-01 1.52035750e-01 2.75003924e+02] [-3.50155071e-01 9.34862414e-01 -5.85123388e-02 -8.63918588e+01] [-1.62904942e-01 7.36696310e-04 9.86641494e-01 -4.79148231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.03, Y:-86.40, Z:-47.92 [[ 9.22046095e-01 3.55909932e-01 1.52181207e-01 2.75033181e+02] [-3.51053685e-01 9.34520066e-01 -5.85965497e-02 -8.64045828e+01] [-1.63071486e-01 6.04946280e-04 9.86614071e-01 -4.79203767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.06, Y:-86.42, Z:-47.93 [[ 9.21669033e-01 3.56873973e-01 1.52207623e-01 2.75061874e+02] [-3.52024438e-01 9.34152426e-01 -5.86348079e-02 -8.64175504e+01] [-1.63110357e-01 4.61083617e-04 9.86607723e-01 -4.79256645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.09, Y:-86.43, Z:-47.93 [[ 9.20580229e-01 3.59594795e-01 1.52392998e-01 2.75088700e+02] [-3.54765512e-01 9.33108559e-01 -5.87354044e-02 -8.64315662e+01] [-1.63320156e-01 6.87213648e-06 9.86573123e-01 -4.79305940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.12, Y:-86.44, Z:-47.94 [[ 9.19921270e-01 3.61235695e-01 1.52491406e-01 2.75117045e+02] [-3.56422190e-01 9.32474500e-01 -5.87752489e-02 -8.64433160e+01] [-1.63426066e-01 -2.82719352e-04 9.86555544e-01 -4.79359724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.15, Y:-86.46, Z:-47.94 [[ 9.19388529e-01 3.62736386e-01 1.52141535e-01 2.75146690e+02] [-3.57965002e-01 9.31891634e-01 -5.86433343e-02 -8.64554768e+01] [-1.63051495e-01 -5.45336101e-04 9.86617409e-01 -4.79417627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.17, Y:-86.47, Z:-47.95 [[ 9.18571586e-01 3.65332622e-01 1.50858596e-01 2.75173785e+02] [-3.60671868e-01 9.30876541e-01 -5.81779075e-02 -8.64685626e+01] [-1.61685015e-01 -9.69878737e-04 9.86841940e-01 -4.79471579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.20, Y:-86.48, Z:-47.95 [[ 9.18080755e-01 3.66693081e-01 1.50545381e-01 2.75201586e+02] [-3.62069600e-01 9.30341192e-01 -5.80592097e-02 -8.64803671e+01] [-1.61348480e-01 -1.20486289e-03 9.86896761e-01 -4.79529819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.23, Y:-86.49, Z:-47.96 [[ 9.17185795e-01 3.69240519e-01 1.49772017e-01 2.75228316e+02] [-3.64698361e-01 9.29332415e-01 -5.77613034e-02 -8.64902074e+01] [-1.60515804e-01 -1.64376232e-03 9.87031902e-01 -4.79583385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.26, Y:-86.50, Z:-47.96 [[ 9.16738094e-01 3.70460641e-01 1.49499769e-01 2.75255977e+02] [-3.65952190e-01 9.28846303e-01 -5.76501511e-02 -8.65009937e+01] [-1.60219420e-01 -1.85967828e-03 9.87079672e-01 -4.79638250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.29, Y:-86.51, Z:-47.97 [[ 9.16222848e-01 3.71675792e-01 1.49642235e-01 2.75286669e+02] [-3.67175116e-01 9.28360273e-01 -5.77030179e-02 -8.65128979e+01] [-1.60368721e-01 -2.07608145e-03 9.87054995e-01 -4.79691809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.32, Y:-86.52, Z:-47.97 [[ 9.15540195e-01 3.73292772e-01 1.49795386e-01 2.75316527e+02] [-3.68798733e-01 9.27710666e-01 -5.77963205e-02 -8.65238512e+01] [-1.60541726e-01 -2.32949395e-03 9.87026306e-01 -4.79740949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:275.35, Y:-86.53, Z:-47.98 [[ 9.14396485e-01 3.76339608e-01 1.49156185e-01 2.75347625e+02] [-3.71919173e-01 9.26477488e-01 -5.75811870e-02 -8.65329690e+01] [-1.59859929e-01 -2.82200994e-03 9.87135674e-01 -4.79790792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.38, Y:-86.54, Z:-47.99 [[ 9.13885510e-01 3.77605170e-01 1.49089270e-01 2.75377343e+02] [-3.73200030e-01 9.25961809e-01 -5.75887603e-02 -8.65432138e+01] [-1.59796783e-01 -3.01058633e-03 9.87145341e-01 -4.79856261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.41, Y:-86.55, Z:-47.99 [[ 9.13153183e-01 3.79516570e-01 1.48722686e-01 2.75406727e+02] [-3.75153068e-01 9.25179034e-01 -5.74798298e-02 -8.65524422e+01] [-1.59409659e-01 -3.30588246e-03 9.87206985e-01 -4.79912715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.43, Y:-86.56, Z:-48.00 [[ 9.12901316e-01 3.80154666e-01 1.48639216e-01 2.75433990e+02] [-3.75803765e-01 9.24916642e-01 -5.74520359e-02 -8.65613804e+01] [-1.59319544e-01 -3.41113777e-03 9.87221174e-01 -4.79964946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.46, Y:-86.57, Z:-48.00 [[ 9.12834664e-01 3.80234722e-01 1.48843652e-01 2.75461504e+02] [-3.75873116e-01 9.24883658e-01 -5.75292975e-02 -8.65698263e+01] [-1.59537698e-01 -3.43159047e-03 9.87185873e-01 -4.80012672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.49, Y:-86.58, Z:-48.01 [[ 9.12976628e-01 3.79739957e-01 1.49235524e-01 2.75493381e+02] [-3.75350042e-01 9.25087164e-01 -5.76722212e-02 -8.65771177e+01] [-1.59956314e-01 -3.36217017e-03 9.87118368e-01 -4.80056450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.52, Y:-86.59, Z:-48.01 [[ 9.13115751e-01 3.79313556e-01 1.49468564e-01 2.75524187e+02] [-3.74898720e-01 9.25262444e-01 -5.77958460e-02 -8.65862419e+01] [-1.60220396e-01 -3.26127587e-03 9.87075878e-01 -4.80113674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.55, Y:-86.59, Z:-48.02 [[ 9.13532080e-01 3.78278856e-01 1.49546801e-01 2.75553022e+02] [-3.73839934e-01 9.25686671e-01 -5.78609631e-02 -8.65948245e+01] [-1.60321059e-01 -3.04872011e-03 9.87060213e-01 -4.80168285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.58, Y:-86.60, Z:-48.02 [[ 9.14744901e-01 3.75252337e-01 1.49757973e-01 2.75582798e+02] [-3.70758642e-01 9.26919294e-01 -5.79538677e-02 -8.66020880e+01] [-1.60560878e-01 -2.51105759e-03 9.87022745e-01 -4.80219391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.61, Y:-86.61, Z:-48.03 [[ 9.15391528e-01 3.73660910e-01 1.49786098e-01 2.75612231e+02] [-3.69144384e-01 9.27562688e-01 -5.79645051e-02 -8.66115035e+01] [-1.60595066e-01 -2.23248013e-03 9.87017852e-01 -4.80271184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.64, Y:-86.62, Z:-48.03 [[ 9.16889875e-01 3.69878028e-01 1.50010673e-01 2.75642816e+02] [-3.65296814e-01 9.29078999e-01 -5.80555852e-02 -8.66194220e+01] [-1.60845251e-01 -1.56784268e-03 9.86978392e-01 -4.80317844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.67, Y:-86.63, Z:-48.04 [[ 9.17553224e-01 3.68034190e-01 1.50488928e-01 2.75670581e+02] [-3.63398142e-01 9.29811426e-01 -5.82451993e-02 -8.66278566e+01] [-1.61362549e-01 -1.24432649e-03 9.86894411e-01 -4.80366240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.70, Y:-86.64, Z:-48.04 [[ 9.18319965e-01 3.66158964e-01 1.50386352e-01 2.75699151e+02] [-3.61504635e-01 9.30551865e-01 -5.82033109e-02 -8.66365593e+01] [-1.61253964e-01 -9.16100838e-04 9.86912519e-01 -4.80418239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.73, Y:-86.64, Z:-48.05 [[ 9.19867367e-01 3.62289820e-01 1.50300080e-01 2.75731388e+02] [-3.57589787e-01 9.32065464e-01 -5.81679914e-02 -8.66442537e+01] [-1.61163185e-01 -2.38936416e-04 9.86927743e-01 -4.80474436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.76, Y:-86.65, Z:-48.05 [[ 9.20542178e-01 3.60567713e-01 1.50309759e-01 2.75761637e+02] [-3.55838469e-01 9.32733035e-01 -5.82071193e-02 -8.66536536e+01] [-1.61186486e-01 9.61137357e-05 9.86923962e-01 -4.80526681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.77587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.79, Y:-86.66, Z:-48.06 [[ 9.21405019e-01 3.58357210e-01 1.50309351e-01 2.75789996e+02] [-3.53595018e-01 9.33584413e-01 -5.82297887e-02 -8.66627330e+01] [-1.61193532e-01 5.04581907e-04 9.86922687e-01 -4.80585261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.82, Y:-86.67, Z:-48.06 [[ 9.23249559e-01 3.53906720e-01 1.49533559e-01 2.75821036e+02] [-3.49136121e-01 9.35279857e-01 -5.79271750e-02 -8.66728889e+01] [-1.60356542e-01 1.27367198e-03 9.87058335e-01 -4.80641063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.85, Y:-86.68, Z:-48.07 [[ 9.24150372e-01 3.51576445e-01 1.49466029e-01 2.75850494e+02] [-3.46774338e-01 9.36157615e-01 -5.79351260e-02 -8.66827675e+01] [-1.60292387e-01 1.70978509e-03 9.87068097e-01 -4.80700216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:275.88, Y:-86.69, Z:-48.08 [[ 9.25849574e-01 3.47457888e-01 1.48578540e-01 2.75881633e+02] [-3.42655256e-01 9.37692419e-01 -5.76220760e-02 -8.66926835e+01] [-1.59342215e-01 2.43815689e-03 9.87220398e-01 -4.80750773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.91, Y:-86.70, Z:-48.08 [[ 9.26512465e-01 3.45666001e-01 1.48625932e-01 2.75910862e+02] [-3.40831824e-01 9.38353498e-01 -5.76747802e-02 -8.67040781e+01] [-1.59399874e-01 2.77995543e-03 9.87210186e-01 -4.80816794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.94, Y:-86.72, Z:-48.09 [[ 9.27175061e-01 3.43616019e-01 1.49246230e-01 2.75940964e+02] [-3.38711433e-01 9.39104900e-01 -5.79357584e-02 -8.67166286e+01] [-1.60065520e-01 3.16518609e-03 9.87101317e-01 -4.80867513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.97, Y:-86.73, Z:-48.09 [[ 9.27247475e-01 3.43380110e-01 1.49339278e-01 2.75971744e+02] [-3.38460961e-01 9.39190932e-01 -5.80049285e-02 -8.67284758e+01] [-1.60175834e-01 3.23940803e-03 9.87083182e-01 -4.80921637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:276.00, Y:-86.74, Z:-48.10 [[ 9.27096596e-01 3.43731242e-01 1.49468174e-01 2.76002241e+02] [-3.38802708e-01 9.39062570e-01 -5.80879933e-02 -8.67400447e+01] [-1.60326626e-01 3.21295872e-03 9.87058787e-01 -4.80962167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.03, Y:-86.75, Z:-48.10 [[ 9.26316899e-01 3.45591480e-01 1.50011774e-01 2.76032187e+02] [-3.40645394e-01 9.38380476e-01 -5.83335052e-02 -8.67509050e+01] [-1.60927682e-01 2.93449184e-03 9.86961838e-01 -4.81023495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.06, Y:-86.76, Z:-48.11 [[ 9.25786222e-01 3.47032662e-01 1.49960673e-01 2.76061582e+02] [-3.42103530e-01 9.37849118e-01 -5.83455697e-02 -8.67625544e+01] [-1.60888303e-01 2.71344902e-03 9.86968891e-01 -4.81078869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.09, Y:-86.77, Z:-48.11 [[ 9.25774026e-01 3.47069561e-01 1.49950568e-01 2.76090804e+02] [-3.42136707e-01 9.37835400e-01 -5.83715272e-02 -8.67739662e+01] [-1.60887931e-01 2.73525009e-03 9.86968891e-01 -4.81133043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.12, Y:-86.78, Z:-48.12 [[ 9.24629010e-01 3.50286545e-01 1.49534379e-01 2.76118459e+02] [-3.45421929e-01 9.36640061e-01 -5.82158764e-02 -8.67846575e+01] [-1.60452128e-01 2.17563442e-03 9.87041226e-01 -4.81185707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.15, Y:-86.80, Z:-48.12 [[ 9.23901759e-01 3.52317857e-01 1.49257052e-01 2.76148655e+02] [-3.47497699e-01 9.35878634e-01 -5.81079342e-02 -8.67965616e+01] [-1.60158949e-01 1.81954041e-03 9.87089560e-01 -4.81238560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.18, Y:-86.81, Z:-48.13 [[ 9.23139737e-01 3.54189848e-01 1.49541223e-01 2.76177782e+02] [-3.49369971e-01 9.35172289e-01 -5.82530156e-02 -8.68077041e+01] [-1.60479434e-01 1.53046085e-03 9.87037998e-01 -4.81297823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.21, Y:-86.82, Z:-48.14 [[ 9.21799541e-01 3.57687203e-01 1.49484018e-01 2.76208325e+02] [-3.52911475e-01 9.33840971e-01 -5.82626093e-02 -8.68192385e+01] [-1.60434090e-01 9.51821178e-04 9.87046097e-01 -4.81353665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.24, Y:-86.83, Z:-48.14 [[ 9.21143549e-01 3.59414943e-01 1.49383603e-01 2.76236518e+02] [-3.54662372e-01 9.33177598e-01 -5.82595220e-02 -8.68300499e+01] [-1.60340774e-01 6.84639971e-04 9.87061481e-01 -4.81403149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.26, Y:-86.84, Z:-48.14 [[ 9.19561798e-01 3.63300443e-01 1.49729379e-01 2.76263471e+02] [-3.58576339e-01 9.31672039e-01 -5.83971015e-02 -8.68385967e+01] [-1.60714369e-01 1.03311473e-05 9.87000958e-01 -4.81446834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.29, Y:-86.85, Z:-48.15 [[ 9.18865489e-01 3.65054978e-01 1.49736687e-01 2.76290075e+02] [-3.60354831e-01 9.30985913e-01 -5.83919960e-02 -8.68477772e+01] [-1.60719035e-01 -3.03948672e-04 9.87000152e-01 -4.81495744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.32, Y:-86.86, Z:-48.15 [[ 9.18163795e-01 3.66868218e-01 1.49609345e-01 2.76316462e+02] [-3.62201360e-01 9.30272711e-01 -5.83340260e-02 -8.68569632e+01] [-1.60578391e-01 -6.28517497e-04 9.87022890e-01 -4.81545220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.34, Y:-86.87, Z:-48.16 [[ 9.17499389e-01 3.68502810e-01 1.49668135e-01 2.76342772e+02] [-3.63855218e-01 9.29626176e-01 -5.83485484e-02 -8.68657266e+01] [-1.60637020e-01 -9.22774299e-04 9.87013119e-01 -4.81591535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.37, Y:-86.87, Z:-48.16 [[ 9.16373518e-01 3.71314032e-01 1.49617731e-01 2.76370476e+02] [-3.66708510e-01 9.28506252e-01 -5.83181686e-02 -8.68727530e+01] [-1.60575353e-01 -1.42486990e-03 9.87022556e-01 -4.81644140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.40, Y:-86.88, Z:-48.17 [[ 9.16079611e-01 3.72208422e-01 1.49194631e-01 2.76396103e+02] [-3.67642200e-01 9.28147822e-01 -5.81449393e-02 -8.68810410e+01] [-1.60116707e-01 -1.58484877e-03 9.87096818e-01 -4.81694247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.42, Y:-86.89, Z:-48.17 [[ 9.15970410e-01 3.72715532e-01 1.48597911e-01 2.76422143e+02] [-3.68194281e-01 9.27944137e-01 -5.79020647e-02 -8.68898741e+01] [-1.59471559e-01 -1.67632320e-03 9.87201100e-01 -4.81743603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.45, Y:-86.90, Z:-48.18 [[ 9.16131975e-01 3.72485446e-01 1.48178261e-01 2.76448591e+02] [-3.67988820e-01 9.28036580e-01 -5.77263866e-02 -8.68977101e+01] [-1.59017086e-01 -1.64295492e-03 9.87274464e-01 -4.81790752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.47, Y:-86.91, Z:-48.18 [[ 9.16466719e-01 3.71604284e-01 1.48320626e-01 2.76474254e+02] [-3.67089445e-01 9.28390003e-01 -5.77697333e-02 -8.69060902e+01] [-1.59166867e-01 -1.50289848e-03 9.87250551e-01 -4.81839009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.50, Y:-86.92, Z:-48.19 [[ 9.16987443e-01 3.70290986e-01 1.48386709e-01 2.76500656e+02] [-3.65757315e-01 9.28914918e-01 -5.77811593e-02 -8.69152240e+01] [-1.59234470e-01 -1.28892672e-03 9.87239952e-01 -4.81888270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.53, Y:-86.92, Z:-48.19 [[ 9.18330775e-01 3.66855786e-01 1.48611644e-01 2.76526876e+02] [-3.62265469e-01 9.30277558e-01 -5.78566772e-02 -8.69236964e+01] [-1.59475134e-01 -7.05299604e-04 9.87201694e-01 -4.81932202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.55, Y:-86.93, Z:-48.20 [[ 9.19063655e-01 3.64953951e-01 1.48763607e-01 2.76553137e+02] [-3.60331370e-01 9.31025490e-01 -5.79037128e-02 -8.69330995e+01] [-1.59634899e-01 -3.86996303e-04 9.87176048e-01 -4.81980817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.58, Y:-86.94, Z:-48.20 [[ 9.20482801e-01 3.60999382e-01 1.49635752e-01 2.76579060e+02] [-3.56272084e-01 9.32566010e-01 -5.82309175e-02 -8.69409378e+01] [-1.60566541e-01 2.89516790e-04 9.87024975e-01 -4.82021884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.61, Y:-86.95, Z:-48.21 [[ 9.21206216e-01 3.59139223e-01 1.49660034e-01 2.76606053e+02] [-3.54388352e-01 9.33283804e-01 -5.82257474e-02 -8.69510417e+01] [-1.60586436e-01 6.00147527e-04 9.87021599e-01 -4.82072300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.63, Y:-86.96, Z:-48.21 [[ 9.21943954e-01 3.57292161e-01 1.49538146e-01 2.76631659e+02] [-3.52526222e-01 9.33992225e-01 -5.81703205e-02 -8.69612383e+01] [-1.60451265e-01 9.13657691e-04 9.87043341e-01 -4.82121586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.66, Y:-86.97, Z:-48.22 [[ 9.22592323e-01 3.55625636e-01 1.49511917e-01 2.76657680e+02] [-3.50841287e-01 9.34627724e-01 -5.81498852e-02 -8.69717822e+01] [-1.60417572e-01 1.19368439e-03 9.87048518e-01 -4.82170589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.68, Y:-86.98, Z:-48.22 [[ 9.23862210e-01 3.52438960e-01 1.49215941e-01 2.76684092e+02] [-3.47633677e-01 9.35833194e-01 -5.80263757e-02 -8.69837251e+01] [-1.60091986e-01 1.73588931e-03 9.87100574e-01 -4.82216773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.71, Y:-86.99, Z:-48.23 [[ 9.24536374e-01 3.50747475e-01 1.49025842e-01 2.76709774e+02] [-3.45933315e-01 9.36467895e-01 -5.79484523e-02 -8.69940585e+01] [-1.59883190e-01 2.02244827e-03 9.87133869e-01 -4.82271548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.74, Y:-87.01, Z:-48.23 [[ 9.25718795e-01 3.47784715e-01 1.48628746e-01 2.76736478e+02] [-3.42959342e-01 9.37571028e-01 -5.77880413e-02 -8.70050028e+01] [-1.59447803e-01 2.52185923e-03 9.87203139e-01 -4.82321411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:-87.02, Z:-48.24 [[ 9.26186354e-01 3.46736553e-01 1.48164096e-01 2.76763373e+02] [-3.41929508e-01 9.37958714e-01 -5.75991606e-02 -8.70163375e+01] [-1.58943540e-01 2.68588011e-03 9.87284021e-01 -4.82372814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.79, Y:-87.03, Z:-48.24 [[ 9.26321683e-01 3.46287823e-01 1.48367393e-01 2.76792782e+02] [-3.41462834e-01 9.38124258e-01 -5.76715641e-02 -8.70300534e+01] [-1.59158011e-01 2.76046975e-03 9.87249263e-01 -4.82429573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.82, Y:-87.05, Z:-48.25 [[ 9.26232515e-01 3.46039036e-01 1.49500212e-01 2.76820816e+02] [-3.41130703e-01 9.38215762e-01 -5.81466023e-02 -8.70453614e+01] [-1.60384449e-01 2.85816135e-03 9.87050485e-01 -4.82476108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:-87.06, Z:-48.25 [[ 9.26130569e-01 3.46307175e-01 1.49510903e-01 2.76846397e+02] [-3.41397909e-01 9.38116896e-01 -5.81735027e-02 -8.70567540e+01] [-1.60404605e-01 2.83354961e-03 9.87047280e-01 -4.82525028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.87, Y:-87.07, Z:-48.26 [[ 9.25725448e-01 3.47416764e-01 1.49445596e-01 2.76873615e+02] [-3.42527459e-01 9.37707130e-01 -5.81401615e-02 -8.70688229e+01] [-1.60335068e-01 2.63260682e-03 9.87059135e-01 -4.82575038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.90, Y:-87.08, Z:-48.26 [[ 9.24620497e-01 3.50436796e-01 1.49234679e-01 2.76902201e+02] [-3.45601139e-01 9.36584024e-01 -5.80535801e-02 -8.70814498e+01] [-1.60114926e-01 2.10185512e-03 9.87096142e-01 -4.82628945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.93, Y:-87.09, Z:-48.27 [[ 9.24053039e-01 3.52054814e-01 1.48940891e-01 2.76930720e+02] [-3.47258509e-01 9.35977611e-01 -5.79434108e-02 -8.70938793e+01] [-1.59804596e-01 1.82179312e-03 9.87146986e-01 -4.82682303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.96, Y:-87.11, Z:-48.27 [[ 9.22803121e-01 3.55447252e-01 1.48632602e-01 2.76957670e+02] [-3.50713879e-01 9.34695524e-01 -5.78277753e-02 -8.71071010e+01] [-1.59480951e-01 1.23613526e-03 9.87200232e-01 -4.82736643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.98, Y:-87.12, Z:-48.28 [[ 9.22190675e-01 3.57159794e-01 1.48328153e-01 2.76982810e+02] [-3.52467435e-01 9.34042824e-01 -5.77123115e-02 -8.71178419e+01] [-1.59157364e-01 9.40911884e-04 9.87252778e-01 -4.82785480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.01, Y:-87.13, Z:-48.28 [[ 9.21545326e-01 3.58897591e-01 1.48144294e-01 2.77007345e+02] [-3.54241020e-01 9.33376731e-01 -5.76296576e-02 -8.71277113e+01] [-1.58957582e-01 6.29555749e-04 9.87285212e-01 -4.82830962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.03, Y:-87.14, Z:-48.29 [[ 9.20784204e-01 3.60960611e-01 1.47864423e-01 2.77033938e+02] [-3.56350295e-01 9.32581026e-01 -5.75073745e-02 -8.71386985e+01] [-1.58653452e-01 2.60351458e-04 9.87334297e-01 -4.82883400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.06, Y:-87.15, Z:-48.29 [[ 9.19256947e-01 3.64854220e-01 1.47810903e-01 2.77059154e+02] [-3.60298449e-01 9.31064564e-01 -5.74787301e-02 -8.71489046e+01] [-1.58592851e-01 -4.18317055e-04 9.87343979e-01 -4.82929123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.09, Y:-87.16, Z:-48.30 [[ 9.18502654e-01 3.66708124e-01 1.47912227e-01 2.77086152e+02] [-3.62171647e-01 9.30335741e-01 -5.75074499e-02 -8.71591121e+01] [-1.58696481e-01 -7.48869632e-04 9.87327132e-01 -4.82976799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.11, Y:-87.17, Z:-48.30 [[ 9.17138150e-01 3.69840911e-01 1.48577641e-01 2.77111959e+02] [-3.65304660e-01 9.29094188e-01 -5.77623957e-02 -8.71693415e+01] [-1.59405520e-01 -1.30000791e-03 9.87212333e-01 -4.83025860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.14, Y:-87.18, Z:-48.31 [[ 9.16570881e-01 3.70916597e-01 1.49394440e-01 2.77138317e+02] [-3.66346108e-01 9.28664961e-01 -5.80682336e-02 -8.71799973e+01] [-1.60275853e-01 -1.50641973e-03 9.87071113e-01 -4.83072564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.27587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.16, Y:-87.19, Z:-48.31 [[ 9.15615782e-01 3.73073926e-01 1.49878568e-01 2.77163896e+02] [-3.68503597e-01 9.27799679e-01 -5.82482195e-02 -8.71906874e+01] [-1.60788180e-01 -1.89780248e-03 9.86987112e-01 -4.83116158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30587156 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:277.19, Y:-87.20, Z:-48.31 [[ 9.15126988e-01 3.74307203e-01 1.49788898e-01 2.77190493e+02] [-3.69760464e-01 9.27302330e-01 -5.82029883e-02 -8.72008398e+01] [-1.60685392e-01 -2.12288709e-03 9.87003393e-01 -4.83149293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.22, Y:-87.21, Z:-48.32 [[ 9.14624164e-01 3.75353647e-01 1.50240735e-01 2.77216453e+02] [-3.70794671e-01 9.26878767e-01 -5.83700529e-02 -8.72099092e+01] [-1.61164359e-01 -2.32180302e-03 9.86924849e-01 -4.83212816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.24, Y:-87.22, Z:-48.33 [[ 9.14170565e-01 3.76409777e-01 1.50359099e-01 2.77241132e+02] [-3.71859440e-01 9.26449853e-01 -5.84057025e-02 -8.72188682e+01] [-1.61284643e-01 -2.51967621e-03 9.86904714e-01 -4.83255228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.27, Y:-87.23, Z:-48.33 [[ 9.13298712e-01 3.78580490e-01 1.50207442e-01 2.77267630e+02] [-3.74071423e-01 9.25563778e-01 -5.83289309e-02 -8.72281845e+01] [-1.61108762e-01 -2.91657397e-03 9.86932348e-01 -4.83303628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.29, Y:-87.24, Z:-48.34 [[ 9.12534620e-01 3.80420426e-01 1.50202752e-01 2.77292159e+02] [-3.75937662e-01 9.24807951e-01 -5.83191906e-02 -8.72370482e+01] [-1.61094510e-01 -3.24859084e-03 9.86933638e-01 -4.83351340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:-87.25, Z:-48.34 [[ 9.12177436e-01 3.81316872e-01 1.50099199e-01 2.77318262e+02] [-3.76854725e-01 9.24438078e-01 -5.82645289e-02 -8.72464185e+01] [-1.60974663e-01 -3.41800402e-03 9.86952620e-01 -4.83397958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.34, Y:-87.26, Z:-48.34 [[ 9.11730071e-01 3.82413309e-01 1.50027792e-01 2.77343065e+02] [-3.77972138e-01 9.23984279e-01 -5.82246906e-02 -8.72554929e+01] [-1.60889218e-01 -3.62112399e-03 9.86965829e-01 -4.83440098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.37, Y:-87.26, Z:-48.35 [[ 9.11384181e-01 3.83259445e-01 1.49970238e-01 2.77369031e+02] [-3.78835390e-01 9.23632985e-01 -5.81881056e-02 -8.72639876e+01] [-1.60818599e-01 -3.78231448e-03 9.86976733e-01 -4.83493773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.40, Y:-87.27, Z:-48.35 [[ 9.10725996e-01 3.84885070e-01 1.49805354e-01 2.77395817e+02] [-3.80494578e-01 9.22955508e-01 -5.81120201e-02 -8.72706484e+01] [-1.60630125e-01 -4.07599741e-03 9.87006256e-01 -4.83541576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.42, Y:-87.28, Z:-48.36 [[ 9.10518250e-01 3.85312244e-01 1.49969969e-01 2.77422645e+02] [-3.80919785e-01 9.22776846e-01 -5.81636535e-02 -8.72786887e+01] [-1.60799982e-01 -4.16746023e-03 9.86978216e-01 -4.83594682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.45, Y:-87.28, Z:-48.36 [[ 9.10543364e-01 3.85421732e-01 1.49535517e-01 2.77448669e+02] [-3.81058312e-01 9.22731037e-01 -5.79827227e-02 -8.72847914e+01] [-1.60328864e-01 -4.18596855e-03 9.87054777e-01 -4.83639971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.47, Y:-87.29, Z:-48.37 [[ 9.10748400e-01 3.84953634e-01 1.49492647e-01 2.77474003e+02] [-3.80588854e-01 9.22926735e-01 -5.79514195e-02 -8.72922098e+01] [-1.60279370e-01 -4.11607269e-03 9.87063109e-01 -4.83684642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.50, Y:-87.30, Z:-48.37 [[ 9.10985407e-01 3.84407741e-01 1.49453261e-01 2.77500888e+02] [-3.80040335e-01 9.23154607e-01 -5.79216356e-02 -8.73002994e+01] [-1.60233992e-01 -4.03250272e-03 9.87070822e-01 -4.83731584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.53, Y:-87.31, Z:-48.38 [[ 9.11776461e-01 3.82530381e-01 1.49446287e-01 2.77528385e+02] [-3.78140312e-01 9.23935450e-01 -5.79067207e-02 -8.73060761e+01] [-1.60229802e-01 -3.71368053e-03 9.87072753e-01 -4.83777464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72587156000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:277.55, Y:-87.31, Z:-48.38 [[ 9.12270499e-01 3.81421842e-01 1.49264580e-01 2.77554397e+02] [-3.77029758e-01 9.24394367e-01 -5.78240121e-02 -8.73142230e+01] [-1.60034679e-01 -3.52604831e-03 9.87105095e-01 -4.83827674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.58, Y:-87.32, Z:-48.39 [[ 9.13165919e-01 3.79119449e-01 1.49654429e-01 2.77580492e+02] [-3.74675531e-01 9.25342406e-01 -5.79627237e-02 -8.73198980e+01] [-1.60456386e-01 -3.14226894e-03 9.87037930e-01 -4.83872236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78587156000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.61, Y:-87.33, Z:-48.39 [[ 9.13683442e-01 3.77787704e-01 1.49863333e-01 2.77607175e+02] [-3.73315866e-01 9.25887622e-01 -5.80290962e-02 -8.73278106e+01] [-1.60679284e-01 -2.92613566e-03 9.87002333e-01 -4.83918457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.63, Y:-87.34, Z:-48.40 [[ 9.14337297e-01 3.76213656e-01 1.49835217e-01 2.77633366e+02] [-3.71724490e-01 9.26529119e-01 -5.80059984e-02 -8.73352801e+01] [-1.60649340e-01 -2.66037175e-03 9.87007959e-01 -4.83962958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.66, Y:-87.34, Z:-48.40 [[ 9.15873006e-01 3.72765175e-01 1.49073007e-01 2.77661304e+02] [-3.68278739e-01 9.27923429e-01 -5.76964555e-02 -8.73404838e+01] [-1.59835565e-01 -2.05779281e-03 9.87141508e-01 -4.84015809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.69, Y:-87.35, Z:-48.41 [[ 9.16706230e-01 3.70953273e-01 1.48470055e-01 2.77687687e+02] [-3.66481247e-01 9.28649895e-01 -5.74531747e-02 -8.73478919e+01] [-1.59189145e-01 -1.74380786e-03 9.87246563e-01 -4.84066580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.71, Y:-87.36, Z:-48.41 [[ 9.17498445e-01 3.69072307e-01 1.48264072e-01 2.77712924e+02] [-3.64590374e-01 9.29399589e-01 -5.73608182e-02 -8.73550673e+01] [-1.58966857e-01 -1.42719209e-03 9.87282888e-01 -4.84119303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:-87.36, Z:-48.42 [[ 9.19092286e-01 3.64991161e-01 1.48495192e-01 2.77739601e+02] [-3.60444556e-01 9.31010693e-01 -5.74352794e-02 -8.73607968e+01] [-1.59213981e-01 -7.35961141e-04 9.87243823e-01 -4.84163616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.77, Y:-87.37, Z:-48.42 [[ 9.19868581e-01 3.62919735e-01 1.48765115e-01 2.77765515e+02] [-3.58331815e-01 9.31820322e-01 -5.75256230e-02 -8.73681465e+01] [-1.59499541e-01 -3.91260358e-04 9.87197925e-01 -4.84210168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.79, Y:-87.38, Z:-48.43 [[ 9.20530416e-01 3.61239258e-01 1.48761394e-01 2.77792758e+02] [-3.56633244e-01 9.32473155e-01 -5.75025696e-02 -8.73756631e+01] [-1.59488192e-01 -1.20394189e-04 9.87199829e-01 -4.84254577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.82, Y:-87.39, Z:-48.43 [[ 9.20551543e-01 3.61183706e-01 1.48765542e-01 2.77818993e+02] [-3.56578705e-01 9.32494673e-01 -5.74918359e-02 -8.73856699e+01] [-1.59488190e-01 -1.22426128e-04 9.87199829e-01 -4.84303061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.85, Y:-87.39, Z:-48.44 [[ 9.21726741e-01 3.58387040e-01 1.48251625e-01 2.77846573e+02] [-3.53779614e-01 9.33573032e-01 -5.72833170e-02 -8.73906801e+01] [-1.58933318e-01 3.51162292e-04 9.87289257e-01 -4.84351666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.87, Y:-87.40, Z:-48.44 [[ 9.22251458e-01 3.57119754e-01 1.48046374e-01 2.77872717e+02] [-3.52510867e-01 9.34058441e-01 -5.71919391e-02 -8.73992672e+01] [-1.58708336e-01 5.57393619e-04 9.87325353e-01 -4.84403727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.90, Y:-87.41, Z:-48.45 [[ 9.22695031e-01 3.55919753e-01 1.48172230e-01 2.77898282e+02] [-3.51289538e-01 9.34516218e-01 -5.72284733e-02 -8.74079054e+01] [-1.58838097e-01 7.53073524e-04 9.87304356e-01 -4.84450481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.93, Y:-87.41, Z:-48.45 [[ 9.23656729e-01 3.53304463e-01 1.48439222e-01 2.77925618e+02] [-3.48626145e-01 9.35507636e-01 -5.73173186e-02 -8.74136709e+01] [-1.59116490e-01 1.19173345e-03 9.87259096e-01 -4.84494281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.95, Y:-87.42, Z:-48.45 [[ 9.24240056e-01 3.51940907e-01 1.48047005e-01 2.77952520e+02] [-3.47272064e-01 9.36021157e-01 -5.71533557e-02 -8.74212071e+01] [-1.58689733e-01 1.41083165e-03 9.87327493e-01 -4.84542593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.98, Y:-87.43, Z:-48.46 [[ 9.24639642e-01 3.50919342e-01 1.47976849e-01 2.77977859e+02] [-3.46243925e-01 9.36404367e-01 -5.71139666e-02 -8.74294300e+01] [-1.58608563e-01 1.57375269e-03 9.87340289e-01 -4.84593804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.00, Y:-87.44, Z:-48.46 [[ 9.25308088e-01 3.49008772e-01 1.48316618e-01 2.78004495e+02] [-3.44289676e-01 9.37117548e-01 -5.72304226e-02 -8.74371501e+01] [-1.58964025e-01 1.89189263e-03 9.87282563e-01 -4.84643117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.03, Y:-87.45, Z:-48.47 [[ 9.25607994e-01 3.48238081e-01 1.48256809e-01 2.78029516e+02] [-3.43514893e-01 9.37403963e-01 -5.71955284e-02 -8.74457281e+01] [-1.58894181e-01 2.01221654e-03 9.87293568e-01 -4.84686457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.06, Y:-87.45, Z:-48.47 [[ 9.26095283e-01 3.46739202e-01 1.48726097e-01 2.78055150e+02] [-3.41969855e-01 9.37958862e-01 -5.73566997e-02 -8.74545404e+01] [-1.59386777e-01 2.25792740e-03 9.87213633e-01 -4.84734144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.08, Y:-87.46, Z:-48.48 [[ 9.26109983e-01 3.46549578e-01 1.49076117e-01 2.78080902e+02] [-3.41757154e-01 9.38028876e-01 -5.74793512e-02 -8.74643111e+01] [-1.59757148e-01 2.28437133e-03 9.87153704e-01 -4.84780252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.11, Y:-87.47, Z:-48.48 [[ 9.26214620e-01 3.46220445e-01 1.49190755e-01 2.78106003e+02] [-3.41418342e-01 9.38150291e-01 -5.75112821e-02 -8.74729163e+01] [-1.59874931e-01 2.33133027e-03 9.87134525e-01 -4.84824519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.13, Y:-87.48, Z:-48.49 [[ 9.26097690e-01 3.46488072e-01 1.49295292e-01 2.78132226e+02] [-3.41685002e-01 9.38051624e-01 -5.75370348e-02 -8.74813243e+01] [-1.59982587e-01 2.27295299e-03 9.87117220e-01 -4.84869687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.16, Y:-87.49, Z:-48.49 [[ 9.25895925e-01 3.46964766e-01 1.49439577e-01 2.78157489e+02] [-3.42160490e-01 9.37875628e-01 -5.75804254e-02 -8.74901908e+01] [-1.60134116e-01 2.18116238e-03 9.87092857e-01 -4.84914572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.18, Y:-87.50, Z:-48.50 [[ 9.25671504e-01 3.47508725e-01 1.49565882e-01 2.78183760e+02] [-3.42705670e-01 9.37674453e-01 -5.76146192e-02 -8.74992901e+01] [-1.60265690e-01 2.07513530e-03 9.87071731e-01 -4.84963326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.21, Y:-87.51, Z:-48.50 [[ 9.24747652e-01 3.49926163e-01 1.49644446e-01 2.78208964e+02] [-3.45151492e-01 9.36775839e-01 -5.76322309e-02 -8.75077983e+01] [-1.60350327e-01 1.64526622e-03 9.87058795e-01 -4.85006727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:-87.52, Z:-48.50 [[ 9.24272711e-01 3.51113550e-01 1.49797299e-01 2.78234530e+02] [-3.46346893e-01 9.36331799e-01 -5.76766053e-02 -8.75166792e+01] [-1.60511012e-01 1.42708325e-03 9.87033018e-01 -4.85047255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:-87.53, Z:-48.51 [[ 9.23775298e-01 3.52390689e-01 1.49866612e-01 2.78260815e+02] [-3.47639960e-01 9.35852232e-01 -5.76806610e-02 -8.75257873e+01] [-1.60579131e-01 1.18434674e-03 9.87022259e-01 -4.85096009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.29, Y:-87.53, Z:-48.51 [[ 9.22962491e-01 3.55055331e-01 1.48579783e-01 2.78286955e+02] [-3.50422571e-01 9.34845023e-01 -5.71734569e-02 -8.75339054e+01] [-1.59198812e-01 7.03246586e-04 9.87246293e-01 -4.85146445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.31, Y:-87.54, Z:-48.52 [[ 9.22777202e-01 3.55724170e-01 1.48130177e-01 2.78313058e+02] [-3.51130068e-01 9.34590811e-01 -5.69885183e-02 -8.75423599e+01] [-1.58713296e-01 5.74746379e-04 9.87324546e-01 -4.85200817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.34, Y:-87.55, Z:-48.52 [[ 9.22601498e-01 3.56292812e-01 1.47857727e-01 2.78338969e+02] [-3.51724873e-01 9.34374238e-01 -5.68717632e-02 -8.75510103e+01] [-1.58417451e-01 4.64733735e-04 9.87372116e-01 -4.85244308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.37, Y:-87.56, Z:-48.53 [[ 9.22312147e-01 3.56831761e-01 1.48362389e-01 2.78365614e+02] [-3.52241289e-01 9.34168595e-01 -5.70535787e-02 -8.75581419e+01] [-1.58954013e-01 3.61849729e-04 9.87285922e-01 -4.85291886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.39, Y:-87.57, Z:-48.53 [[ 9.22373839e-01 3.56487266e-01 1.48806352e-01 2.78390715e+02] [-3.51866662e-01 9.34300091e-01 -5.72118170e-02 -8.75668000e+01] [-1.59425073e-01 4.10688896e-04 9.87209946e-01 -4.85339051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.42, Y:-87.58, Z:-48.54 [[ 9.22647861e-01 3.55511861e-01 1.49439757e-01 2.78415667e+02] [-3.50841248e-01 9.34671597e-01 -5.74406155e-02 -8.75758437e+01] [-1.60097916e-01 5.67830177e-04 9.87100975e-01 -4.85379382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.44, Y:-87.59, Z:-48.54 [[ 9.22916674e-01 3.54723367e-01 1.49653418e-01 2.78441436e+02] [-3.50031335e-01 9.34971045e-01 -5.75083538e-02 -8.75853005e+01] [-1.60321169e-01 6.92033171e-04 9.87064660e-01 -4.85416304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.77587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.47, Y:-87.59, Z:-48.55 [[ 9.23306710e-01 3.53714213e-01 1.49636140e-01 2.78467749e+02] [-3.49012071e-01 9.35353154e-01 -5.74895724e-02 -8.75937890e+01] [-1.60297514e-01 8.55689001e-04 9.87068374e-01 -4.85473659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:278.49, Y:-87.60, Z:-48.55 [[ 9.23642026e-01 3.52860539e-01 1.49582246e-01 2.78494265e+02] [-3.48152640e-01 9.35675401e-01 -5.74567966e-02 -8.76032500e+01] [-1.60234664e-01 9.92057981e-04 9.87078451e-01 -4.85511317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83587156 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.52, Y:-87.61, Z:-48.56 [[ 9.24518430e-01 3.50409797e-01 1.49928806e-01 2.78519629e+02] [-3.45649825e-01 9.36595424e-01 -5.75778558e-02 -8.76113062e+01] [-1.60598478e-01 1.40892331e-03 9.87018816e-01 -4.85568788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.55, Y:-87.62, Z:-48.56 [[ 9.25012723e-01 3.49066272e-01 1.50014000e-01 2.78545008e+02] [-3.44285600e-01 9.37096623e-01 -5.75963906e-02 -8.76208437e+01] [-1.60682570e-01 1.62973420e-03 9.87004790e-01 -4.85614482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:-87.63, Z:-48.57 [[ 9.26186872e-01 3.45980496e-01 1.49917892e-01 2.78570529e+02] [-3.41167759e-01 9.38239236e-01 -5.75473419e-02 -8.76310439e+01] [-1.60569106e-01 2.15244137e-03 9.87022254e-01 -4.85662069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.60, Y:-87.64, Z:-48.57 [[ 9.26800189e-01 3.44233880e-01 1.50148076e-01 2.78596223e+02] [-3.39385469e-01 9.38880741e-01 -5.76234078e-02 -8.76418362e+01] [-1.60807066e-01 2.44731011e-03 9.86982826e-01 -4.85712778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.62, Y:-87.65, Z:-48.58 [[ 9.27961195e-01 3.41235928e-01 1.49820096e-01 2.78621668e+02] [-3.36371941e-01 9.39973056e-01 -5.74854111e-02 -8.76529223e+01] [-1.60442941e-01 2.94895443e-03 9.87040712e-01 -4.85754997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.65, Y:-87.66, Z:-48.58 [[ 9.28415254e-01 3.40072162e-01 1.49653067e-01 2.78646420e+02] [-3.35206070e-01 9.40394118e-01 -5.74089976e-02 -8.76626530e+01] [-1.60256065e-01 3.13477282e-03 9.87070497e-01 -4.85801355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:-87.67, Z:-48.58 [[ 9.28796260e-01 3.39122788e-01 1.49443107e-01 2.78671925e+02] [-3.34260569e-01 9.40736401e-01 -5.73140151e-02 -8.76731735e+01] [-1.60023059e-01 3.28010510e-03 9.87107827e-01 -4.85843496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.70, Y:-87.68, Z:-48.59 [[ 9.29058485e-01 3.38364805e-01 1.49531232e-01 2.78696069e+02] [-3.33489025e-01 9.41008869e-01 -5.73356770e-02 -8.76831973e+01] [-1.60110591e-01 3.40117241e-03 9.87093223e-01 -4.85893231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07587156 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.72, Y:-87.69, Z:-48.59 [[ 9.29113675e-01 3.37992701e-01 1.50029038e-01 2.78721318e+02] [-3.33081695e-01 9.41142359e-01 -5.75121343e-02 -8.76945507e+01] [-1.60637364e-01 3.46338428e-03 9.87007418e-01 -4.85938017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.75, Y:-87.70, Z:-48.60 [[ 9.29041238e-01 3.38169365e-01 1.50079508e-01 2.78746709e+02] [-3.33259399e-01 9.41079046e-01 -5.75187071e-02 -8.77046890e+01] [-1.60687745e-01 3.42184419e-03 9.86999362e-01 -4.85985306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.77, Y:-87.72, Z:-48.60 [[ 9.28767051e-01 3.38988313e-01 1.49928944e-01 2.78771846e+02] [-3.34100556e-01 9.40784912e-01 -5.74505636e-02 -8.77160401e+01] [-1.60525958e-01 3.26684714e-03 9.87026213e-01 -4.86033026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16587156 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:278.80, Y:-87.73, Z:-48.61 [[ 9.28568385e-01 3.39622716e-01 1.49723632e-01 2.78797231e+02] [-3.34758277e-01 9.40556501e-01 -5.73616923e-02 -8.77273725e+01] [-1.60304869e-01 3.14302885e-03 9.87062546e-01 -4.86076137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19587156 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.82, Y:-87.74, Z:-48.61 [[ 9.28387585e-01 3.40265116e-01 1.49385883e-01 2.78821363e+02] [-3.35432961e-01 9.40324714e-01 -5.72202773e-02 -8.77372214e+01] [-1.59941302e-01 3.01364597e-03 9.87121927e-01 -4.86124947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.85, Y:-87.75, Z:-48.62 [[ 9.27956957e-01 3.41590608e-01 1.49036046e-01 2.78846931e+02] [-3.36800484e-01 9.39844780e-01 -5.70720834e-02 -8.77479147e+01] [-1.59566038e-01 2.76502431e-03 9.87183384e-01 -4.86182276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.87, Y:-87.76, Z:-48.62 [[ 9.27708342e-01 3.42321384e-01 1.48907028e-01 2.78872485e+02] [-3.37550886e-01 9.39579255e-01 -5.70107264e-02 -8.77590057e+01] [-1.59425945e-01 2.62562717e-03 9.87206399e-01 -4.86232992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.90, Y:-87.77, Z:-48.63 [[ 9.27327953e-01 3.43432077e-01 1.48718785e-01 2.78897091e+02] [-3.38689870e-01 9.39174399e-01 -5.69264406e-02 -8.77695394e+01] [-1.59223242e-01 2.41993353e-03 9.87239638e-01 -4.86278827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.92, Y:-87.78, Z:-48.63 [[ 9.26298868e-01 3.46190858e-01 1.48735665e-01 2.78923080e+02] [-3.41485197e-01 9.38162116e-01 -5.69184013e-02 -8.77796529e+01] [-1.59242796e-01 1.93242296e-03 9.87237559e-01 -4.86328389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34587156000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.95, Y:-87.79, Z:-48.64 [[ 9.25729160e-01 3.47790784e-01 1.48549966e-01 2.78949372e+02] [-3.43119380e-01 9.37570728e-01 -5.68350380e-02 -8.77892035e+01] [-1.59042802e-01 1.64347972e-03 9.87270321e-01 -4.86373330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.97, Y:-87.80, Z:-48.64 [[ 9.25094165e-01 3.49386085e-01 1.48762059e-01 2.78974879e+02] [-3.44723728e-01 9.36977863e-01 -5.69037417e-02 -8.77992004e+01] [-1.59268132e-01 1.35950784e-03 9.87234427e-01 -4.86420657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.00, Y:-87.81, Z:-48.65 [[ 9.24378081e-01 3.51133894e-01 1.49097796e-01 2.79000160e+02] [-3.46474921e-01 9.36324670e-01 -5.70196519e-02 -8.78095796e+01] [-1.59625477e-01 1.04906916e-03 9.87177090e-01 -4.86470469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.03, Y:-87.82, Z:-48.65 [[ 9.23265012e-01 3.54064630e-01 1.49063596e-01 2.79025033e+02] [-3.49447706e-01 9.35220806e-01 -5.69942481e-02 -8.78203207e+01] [-1.59587024e-01 5.30863372e-04 9.87183722e-01 -4.86516645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.05, Y:-87.83, Z:-48.66 [[ 9.22837534e-01 3.55173776e-01 1.49072042e-01 2.79049804e+02] [-3.50573041e-01 9.34800237e-01 -5.69829793e-02 -8.78296623e+01] [-1.59591440e-01 3.25392837e-04 9.87183097e-01 -4.86558804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.07, Y:-87.84, Z:-48.66 [[ 9.22162568e-01 3.56667172e-01 1.49682087e-01 2.79074680e+02] [-3.52050238e-01 9.34231516e-01 -5.72023119e-02 -8.78384498e+01] [-1.60239910e-01 5.42164429e-05 9.87078096e-01 -4.86608505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52587156 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:279.10, Y:-87.85, Z:-48.66 [[ 9.22171379e-01 3.56678039e-01 1.49601887e-01 2.79100606e+02] [-3.52069914e-01 9.34227368e-01 -5.71489294e-02 -8.78491086e+01] [-1.60145945e-01 3.07835266e-05 9.87093347e-01 -4.86641775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.13, Y:-87.86, Z:-48.67 [[ 9.22535157e-01 3.55842421e-01 1.49348774e-01 2.79125328e+02] [-3.51241089e-01 9.34545956e-01 -5.70399210e-02 -8.78588312e+01] [-1.59870516e-01 1.63906433e-04 9.87137980e-01 -4.86708182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.15, Y:-87.87, Z:-48.68 [[ 9.22870821e-01 3.55116218e-01 1.49003085e-01 2.79151043e+02] [-3.50530202e-01 9.34822121e-01 -5.68874235e-02 -8.78683581e+01] [-1.59493027e-01 2.69661723e-04 9.87199018e-01 -4.86754275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.18, Y:-87.88, Z:-48.68 [[ 9.23144743e-01 3.54382177e-01 1.49053872e-01 2.79175813e+02] [-3.49785383e-01 9.35100596e-01 -5.68951820e-02 -8.78778638e+01] [-1.59543003e-01 3.85622414e-04 9.87190904e-01 -4.86803623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:-87.89, Z:-48.68 [[ 9.23398360e-01 3.53673469e-01 1.49166170e-01 2.79201292e+02] [-3.49064238e-01 9.35368826e-01 -5.69150030e-02 -8.78881719e+01] [-1.59654712e-01 4.86645020e-04 9.87172800e-01 -4.86845316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:-87.90, Z:-48.69 [[ 9.23985242e-01 3.52118662e-01 1.49210325e-01 2.79225768e+02] [-3.47488443e-01 9.35955070e-01 -5.69200167e-02 -8.78988291e+01] [-1.59696761e-01 7.44391771e-04 9.87165837e-01 -4.86889125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:-87.91, Z:-48.69 [[ 9.24349547e-01 3.51224638e-01 1.49060958e-01 2.79251434e+02] [-3.46594449e-01 9.36290805e-01 -5.68490709e-02 -8.79083732e+01] [-1.59531199e-01 8.84712264e-04 9.87192491e-01 -4.86932255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.28, Y:-87.92, Z:-48.70 [[ 9.24603680e-01 3.50425468e-01 1.49365416e-01 2.79277334e+02] [-3.45767823e-01 9.36590073e-01 -5.69530276e-02 -8.79180459e+01] [-1.59851957e-01 1.01322424e-03 9.87140479e-01 -4.86983050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.30, Y:-87.93, Z:-48.70 [[ 9.24989558e-01 3.49326507e-01 1.49550358e-01 2.79302249e+02] [-3.44644982e-01 9.37000303e-01 -5.70111194e-02 -8.79279321e+01] [-1.60044226e-01 1.19290966e-03 9.87109124e-01 -4.87027834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.33, Y:-87.94, Z:-48.71 [[ 9.25196653e-01 3.48746048e-01 1.49624018e-01 2.79328228e+02] [-3.44054725e-01 9.37216387e-01 -5.70244697e-02 -8.79381104e+01] [-1.60117140e-01 1.27999817e-03 9.87097190e-01 -4.87077028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:-87.95, Z:-48.71 [[ 9.25794460e-01 3.47555802e-01 1.48692911e-01 2.79353456e+02] [-3.42909761e-01 9.37658156e-01 -5.66575481e-02 -8.79482919e+01] [-1.59114781e-01 1.46499352e-03 9.87259004e-01 -4.87121792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.38, Y:-87.96, Z:-48.72 [[ 9.26061485e-01 3.46841556e-01 1.48697884e-01 2.79377867e+02] [-3.42187999e-01 9.37922412e-01 -5.66473546e-02 -8.79578687e+01] [-1.59114735e-01 1.57630175e-03 9.87258840e-01 -4.87168254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.40, Y:-87.97, Z:-48.72 [[ 9.26102545e-01 3.46729313e-01 1.48703932e-01 2.79404149e+02] [-3.42076869e-01 9.37963908e-01 -5.66314756e-02 -8.79677246e+01] [-1.59114714e-01 1.57837840e-03 9.87258840e-01 -4.87216728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91587156 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.43, Y:-87.98, Z:-48.73 [[ 9.26492171e-01 3.45776602e-01 1.48495113e-01 2.79429911e+02] [-3.41128512e-01 9.38315291e-01 -5.65309982e-02 -8.79779601e+01] [-1.58882331e-01 1.71961043e-03 9.87296028e-01 -4.87256091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:-87.99, Z:-48.73 [[ 9.27102606e-01 3.44178636e-01 1.48397518e-01 2.79454491e+02] [-3.39518291e-01 9.38902094e-01 -5.64817408e-02 -8.79885907e+01] [-1.58770549e-01 1.98069730e-03 9.87313521e-01 -4.87310758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97587156000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:279.48, Y:-88.00, Z:-48.73 [[ 9.27459158e-01 3.43175362e-01 1.48493034e-01 2.79480125e+02] [-3.38498510e-01 9.39268913e-01 -5.65036976e-02 -8.79990390e+01] [-1.58865567e-01 2.14020114e-03 9.87297904e-01 -4.87345262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.51, Y:-88.01, Z:-48.74 [[ 9.28039921e-01 3.41376537e-01 1.49009946e-01 2.79506455e+02] [-3.36645777e-01 9.39923444e-01 -5.66880958e-02 -8.80102970e+01] [-1.59409927e-01 2.44524695e-03 9.87209449e-01 -4.87405871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.53, Y:-88.02, Z:-48.75 [[ 9.28345475e-01 3.40539844e-01 1.49021116e-01 2.79533252e+02] [-3.35798999e-01 9.40226543e-01 -5.66840433e-02 -8.80208668e+01] [-1.59416784e-01 2.58123354e-03 9.87207995e-01 -4.87455299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.56, Y:-88.03, Z:-48.75 [[ 9.28682836e-01 3.39662910e-01 1.48920438e-01 2.79559594e+02] [-3.34918659e-01 9.40543300e-01 -5.66373824e-02 -8.80311000e+01] [-1.59303738e-01 2.72193147e-03 9.87225866e-01 -4.87500053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09587156000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.58, Y:-88.04, Z:-48.76 [[ 9.29278030e-01 3.37940925e-01 1.49125027e-01 2.79584773e+02] [-3.33162836e-01 9.41162499e-01 -5.67069190e-02 -8.80428218e+01] [-1.59514472e-01 3.01357696e-03 9.87190990e-01 -4.87553169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12587156 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.61, Y:-88.05, Z:-48.76 [[ 9.29577912e-01 3.37125743e-01 1.49101101e-01 2.79610910e+02] [-3.32340490e-01 9.41454383e-01 -5.66872388e-02 -8.80542195e+01] [-1.59482613e-01 3.14287221e-03 9.87195735e-01 -4.87598270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15587156 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:279.64, Y:-88.07, Z:-48.76 [[ 9.29718951e-01 3.36631599e-01 1.49338002e-01 2.79635744e+02] [-3.31826024e-01 9.41630908e-01 -5.67690390e-02 -8.80654278e+01] [-1.59731531e-01 3.22501602e-03 9.87155225e-01 -4.87635845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18587156 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:279.66, Y:-88.08, Z:-48.77 [[ 9.29986701e-01 3.35968248e-01 1.49164585e-01 2.79661364e+02] [-3.31167145e-01 9.41867444e-01 -5.66925045e-02 -8.80779005e+01] [-1.59540147e-01 3.32486550e-03 9.87185842e-01 -4.87690528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21587156 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:279.69, Y:-88.09, Z:-48.77 [[ 9.29986703e-01 3.36059807e-01 1.48958180e-01 2.79687805e+02] [-3.31274536e-01 9.41834878e-01 -5.66060452e-02 -8.80891329e+01] [-1.59317025e-01 3.29681744e-03 9.87221969e-01 -4.87733036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24587156 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:279.71, Y:-88.10, Z:-48.78 [[ 9.29801563e-01 3.36577343e-01 1.48945445e-01 2.79712163e+02] [-3.31800793e-01 9.41650387e-01 -5.65931308e-02 -8.81010990e+01] [-1.59302501e-01 3.20016474e-03 9.87224631e-01 -4.87781700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.27587156 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:279.74, Y:-88.11, Z:-48.78 [[ 9.29759772e-01 3.36738891e-01 1.48841141e-01 2.79737141e+02] [-3.31972785e-01 9.41592763e-01 -5.65432463e-02 -8.81115084e+01] [-1.59188051e-01 3.16042774e-03 9.87243220e-01 -4.87825386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30587156 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:279.76, Y:-88.12, Z:-48.79 [[ 9.29700803e-01 3.36888407e-01 1.48871145e-01 2.79762936e+02] [-3.32123934e-01 9.41539394e-01 -5.65443310e-02 -8.81228699e+01] [-1.59217177e-01 3.12563969e-03 9.87238634e-01 -4.87877416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33587156 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:279.79, Y:-88.14, Z:-48.79 [[ 9.29460533e-01 3.37366306e-01 1.49288627e-01 2.79788006e+02] [-3.32582308e-01 9.41368528e-01 -5.66948319e-02 -8.81375512e+01] [-1.59662541e-01 3.04485269e-03 9.87166958e-01 -4.87928201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36587156 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:279.81, Y:-88.15, Z:-48.80 [[ 9.29186538e-01 3.37847648e-01 1.49904452e-01 2.79813482e+02] [-3.33031335e-01 9.41196134e-01 -5.69207080e-02 -8.81489292e+01] [-1.60320018e-01 2.96707574e-03 9.87060630e-01 -4.87973435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39587156 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:279.84, Y:-88.16, Z:-48.80 [[ 9.29045460e-01 3.38131923e-01 1.50137722e-01 2.79840617e+02] [-3.33305876e-01 9.41094213e-01 -5.69989039e-02 -8.81600588e+01] [-1.60566891e-01 2.91278780e-03 9.87020663e-01 -4.88009142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42587156 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:279.87, Y:-88.17, Z:-48.81 [[ 9.28132039e-01 3.40595575e-01 1.50218419e-01 2.79866774e+02] [-3.35797000e-01 9.40206617e-01 -5.70253607e-02 -8.81726212e+01] [-1.60658937e-01 2.48417000e-03 9.87006857e-01 -4.88070000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45587156 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:279.89, Y:-88.18, Z:-48.81 [[ 9.27824383e-01 3.41571524e-01 1.49902664e-01 2.79892758e+02] [-3.36806546e-01 9.39852954e-01 -5.69014584e-02 -8.81839901e+01] [-1.60322380e-01 2.30636193e-03 9.87062012e-01 -4.88113462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48587156 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:279.92, Y:-88.20, Z:-48.82 [[ 9.26380812e-01 3.45655186e-01 1.49469342e-01 2.79917550e+02] [-3.40971609e-01 9.38360254e-01 -5.67309084e-02 -8.81975593e+01] [-1.59865422e-01 1.58962307e-03 9.87137539e-01 -4.88171150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51587156 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:279.94, Y:-88.21, Z:-48.82 [[ 9.25620949e-01 3.47843694e-01 1.49099375e-01 2.79943077e+02] [-3.43212899e-01 9.37551770e-01 -5.65825432e-02 -8.82079969e+01] [-1.59470263e-01 1.20115871e-03 9.87202002e-01 -4.88214496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54587156 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:279.97, Y:-88.22, Z:-48.83 [[ 9.24837525e-01 3.49879917e-01 1.49196503e-01 2.79968565e+02] [-3.45271174e-01 9.36794181e-01 -5.66081127e-02 -8.82178693e+01] [-1.59572458e-01 8.40054942e-04 9.87185861e-01 -4.88263392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57587156 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:280.00, Y:-88.23, Z:-48.83 [[ 9.24109746e-01 3.51714254e-01 1.49392976e-01 2.79995093e+02] [-3.47118749e-01 9.36107269e-01 -5.66723471e-02 -8.82283809e+01] [-1.59780323e-01 5.14365454e-04 9.87152462e-01 -4.88314439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60587156 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:280.02, Y:-88.24, Z:-48.84 [[ 9.23500680e-01 3.53219857e-01 1.49606907e-01 2.80021945e+02] [-3.48632028e-01 9.35540310e-01 -5.67453762e-02 -8.82388367e+01] [-1.60006886e-01 2.46634098e-04 9.87115867e-01 -4.88359365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63587156 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:280.05, Y:-88.25, Z:-48.84 [[ 9.22412721e-01 3.55944177e-01 1.49861653e-01 2.80047194e+02] [-3.51377600e-01 9.34507190e-01 -5.68339205e-02 -8.82490050e+01] [-1.60276495e-01 -2.33696592e-04 9.87072130e-01 -4.88413490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66587156 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:280.07, Y:-88.26, Z:-48.85 [[ 9.22061662e-01 3.56844334e-01 1.49881330e-01 2.80073726e+02] [-3.52290028e-01 9.34163777e-01 -5.68311060e-02 -8.82593907e+01] [-1.60293567e-01 -3.99913852e-04 9.87069305e-01 -4.88462842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69587156 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:280.10, Y:-88.27, Z:-48.85 [[ 9.21680553e-01 3.57986739e-01 1.49500678e-01 2.80099045e+02] [-3.53471945e-01 9.33726474e-01 -5.66785267e-02 -8.82701645e+01] [-1.59882902e-01 -6.04799674e-04 9.87135802e-01 -4.88504765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72587156000003 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:280.12, Y:-88.28, Z:-48.86 [[ 9.21421795e-01 3.58762535e-01 1.49235785e-01 2.80124235e+02] [-3.54275620e-01 9.33428564e-01 -5.65676666e-02 -8.82802385e+01] [-1.59595304e-01 -7.47919108e-04 9.87182242e-01 -4.88555507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75587156 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:280.15, Y:-88.29, Z:-48.86 [[ 9.21315782e-01 3.59177938e-01 1.48890694e-01 2.80151481e+02] [-3.54718951e-01 9.33268731e-01 -5.64264321e-02 -8.82896464e+01] [-1.59222159e-01 -8.27788561e-04 9.87242432e-01 -4.88590524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78587156000003 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:280.18, Y:-88.30, Z:-48.87 [[ 9.20846078e-01 3.60433381e-01 1.48762491e-01 2.80178039e+02] [-3.55999750e-01 9.32784365e-01 -5.63693792e-02 -8.82995100e+01] [-1.59080732e-01 -1.05188784e-03 9.87265017e-01 -4.88660637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81587156 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:280.20, Y:-88.31, Z:-48.87 [[ 9.20670129e-01 3.60908375e-01 1.48699893e-01 2.80203491e+02] [-3.56485975e-01 9.32600580e-01 -5.63374413e-02 -8.83092704e+01] [-1.59010261e-01 -1.14122717e-03 9.87276271e-01 -4.88704376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84587156000003 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:280.23, Y:-88.32, Z:-48.88 [[ 9.20409482e-01 3.61368387e-01 1.49195420e-01 2.80228503e+02] [-3.56924168e-01 9.32422308e-01 -5.65135103e-02 -8.83183920e+01] [-1.59535334e-01 -1.23588040e-03 9.87191445e-01 -4.88754195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87587156 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:280.26, Y:-88.33, Z:-48.88 [[ 9.20440980e-01 3.61372926e-01 1.48989970e-01 2.80255388e+02] [-3.56943455e-01 9.32420532e-01 -5.64209241e-02 -8.83285855e+01] [-1.59310302e-01 -1.24886401e-03 9.87227769e-01 -4.88808945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90587156 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:280.28, Y:-88.34, Z:-48.89 [[ 9.20586523e-01 3.61062157e-01 1.48844121e-01 2.80280961e+02] [-3.56638697e-01 9.32540978e-01 -5.63574733e-02 -8.83388499e+01] [-1.59151793e-01 -1.20164309e-03 9.87253393e-01 -4.88857584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93587156 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:280.31, Y:-88.35, Z:-48.89 [[ 9.20859637e-01 3.60313572e-01 1.48968649e-01 2.80307108e+02] [-3.55874597e-01 9.32830615e-01 -5.63942752e-02 -8.83488460e+01] [-1.59282139e-01 -1.08294618e-03 9.87232509e-01 -4.88895930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96587156 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:280.33, Y:-88.36, Z:-48.90 [[ 9.21198766e-01 3.59304544e-01 1.49308671e-01 2.80332094e+02] [-3.54833969e-01 9.33219907e-01 -5.65107109e-02 -8.83598771e+01] [-1.59642379e-01 -9.22191030e-04 9.87174483e-01 -4.88952273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99587156 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:280.36, Y:-88.37, Z:-48.90 [[ 9.21430899e-01 3.58710513e-01 1.49304607e-01 2.80357191e+02] [-3.54234414e-01 9.33448487e-01 -5.64969260e-02 -8.83690804e+01] [-1.59634200e-01 -8.30816447e-04 9.87175887e-01 -4.88993867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02587156 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:280.38, Y:-88.38, Z:-48.90 [[ 9.21727753e-01 3.57795897e-01 1.49666447e-01 2.80383472e+02] [-3.53288355e-01 9.33799562e-01 -5.66190397e-02 -8.83788520e+01] [-1.60016523e-01 -6.88072600e-04 9.87114096e-01 -4.89040431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05587156 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:280.41, Y:-88.39, Z:-48.91 [[ 9.21760950e-01 3.57532652e-01 1.50090486e-01 2.80409474e+02] [-3.52997244e-01 9.33900411e-01 -5.67711905e-02 -8.83887929e+01] [-1.60467121e-01 -6.52061636e-04 9.87040971e-01 -4.89087599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08587156 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:280.44, Y:-88.40, Z:-48.91 [[ 9.21866162e-01 3.57174636e-01 1.50296571e-01 2.80435775e+02] [-3.52623667e-01 9.34037429e-01 -5.68386342e-02 -8.83991506e+01] [-1.60683942e-01 -6.00514521e-04 9.87005730e-01 -4.89135283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11587156 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:280.46, Y:-88.41, Z:-48.92 [[ 9.22043443e-01 3.56781954e-01 1.50141689e-01 2.80460977e+02] [-3.52236608e-01 9.34187533e-01 -5.67717027e-02 -8.84099629e+01] [-1.60515613e-01 -5.39423168e-04 9.87033154e-01 -4.89184857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14587156 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:280.49, Y:-88.42, Z:-48.92 [[ 9.22119454e-01 3.56637061e-01 1.50019063e-01 2.80487092e+02] [-3.52099023e-01 9.34242866e-01 -5.67146016e-02 -8.84202724e+01] [-1.60380768e-01 -5.23928057e-04 9.87055082e-01 -4.89235214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17587156 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:280.51, Y:-88.43, Z:-48.93 [[ 9.22102666e-01 3.56660749e-01 1.50065928e-01 2.80513685e+02] [-3.52121490e-01 9.34233816e-01 -5.67241843e-02 -8.84306405e+01] [-1.60427955e-01 -5.35916647e-04 9.87047407e-01 -4.89286206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20587156 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:280.54, Y:-88.44, Z:-48.93 [[ 9.22106349e-01 3.56842450e-01 1.49610648e-01 2.80539532e+02] [-3.52334531e-01 9.34164406e-01 -5.65441501e-02 -8.84399669e+01] [-1.59938296e-01 -5.73277799e-04 9.87126847e-01 -4.89335611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23587156 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:280.57, Y:-88.45, Z:-48.94 [[ 9.22181277e-01 3.56899115e-01 1.49012465e-01 2.80566268e+02] [-3.52429851e-01 9.34142748e-01 -5.63074325e-02 -8.84502627e+01] [-1.59294986e-01 -5.90780876e-04 9.87230854e-01 -4.89388211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26587156 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:280.59, Y:-88.46, Z:-48.94 [[ 9.22209516e-01 3.56957567e-01 1.48697356e-01 2.80591915e+02] [-3.52509335e-01 9.34120403e-01 -5.61804420e-02 -8.84603889e+01] [-1.58955268e-01 -6.07067955e-04 9.87285599e-01 -4.89441051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29587156 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:280.62, Y:-88.47, Z:-48.95 [[ 9.22221644e-01 3.57047159e-01 1.48406758e-01 2.80617833e+02] [-3.52619190e-01 9.34086146e-01 -5.60604905e-02 -8.84707896e+01] [-1.58640935e-01 -6.30872934e-04 9.87336141e-01 -4.89491143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32587156 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:280.64, Y:-88.48, Z:-48.95 [[ 9.21900486e-01 3.57641609e-01 1.48969708e-01 2.80643054e+02] [-3.53188828e-01 9.33858622e-01 -5.62647828e-02 -8.84805795e+01] [-1.59239274e-01 -7.43906155e-04 9.87239738e-01 -4.89545467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35587156 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:280.67, Y:-88.49, Z:-48.96 [[ 9.21592998e-01 3.58309340e-01 1.49267423e-01 2.80669697e+02] [-3.53849061e-01 9.33602516e-01 -5.63665189e-02 -8.84903684e+01] [-1.59553092e-01 -8.71148400e-04 9.87188965e-01 -4.89588183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38587156 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:280.70, Y:-88.50, Z:-48.96 [[ 9.21068031e-01 3.59543200e-01 1.49540526e-01 2.80696141e+02] [-3.55083995e-01 9.33127799e-01 -5.64612074e-02 -8.84998517e+01] [-1.59840665e-01 -1.09483431e-03 9.87142220e-01 -4.89632061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41587156 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:280.72, Y:-88.51, Z:-48.97 [[ 9.20837215e-01 3.60132813e-01 1.49543239e-01 2.80721562e+02] [-3.55682146e-01 9.32900268e-01 -5.64561840e-02 -8.85089564e+01] [-1.59840652e-01 -1.20290480e-03 9.87142097e-01 -4.89679953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44587156 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:280.75, Y:-88.52, Z:-48.97 [[ 9.20575688e-01 3.60781400e-01 1.49590055e-01 2.80747007e+02] [-3.56338137e-01 9.32649465e-01 -5.64633345e-02 -8.85181737e+01] [-1.59886006e-01 -1.32586866e-03 9.87134594e-01 -4.89730364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47587156000003 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:280.77, Y:-88.53, Z:-48.98 [[ 9.20119816e-01 3.62048071e-01 1.49334251e-01 2.80773654e+02] [-3.57638380e-01 9.32158131e-01 -5.63560829e-02 -8.85270148e+01] [-1.59606747e-01 -1.55331075e-03 9.87179454e-01 -4.89777923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50587156 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:280.80, Y:-88.54, Z:-48.98 [[ 9.20054722e-01 3.62456617e-01 1.48743098e-01 2.80799244e+02] [-3.58089204e-01 9.31999221e-01 -5.61210714e-02 -8.85353337e+01] [-1.58969905e-01 -1.62884072e-03 9.87282085e-01 -4.89823551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53587156000003 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:280.83, Y:-88.54, Z:-48.99 [[ 9.19904268e-01 3.62988833e-01 1.48375354e-01 2.80826061e+02] [-3.58652260e-01 9.31791884e-01 -5.59682144e-02 -8.85432372e+01] [-1.58570787e-01 -1.72975666e-03 9.87346096e-01 -4.89873088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56587156 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:280.85, Y:-88.55, Z:-48.99 [[ 9.19911975e-01 3.62978490e-01 1.48352868e-01 2.80852585e+02] [-3.58645056e-01 9.31795896e-01 -5.59475890e-02 -8.85521074e+01] [-1.58542365e-01 -1.73916555e-03 9.87350644e-01 -4.89920625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59587156000003 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:280.88, Y:-88.56, Z:-49.00 [[ 9.20006499e-01 3.62792156e-01 1.48222443e-01 2.80877800e+02] [-3.58465907e-01 9.31868501e-01 -5.58863961e-02 -8.85608505e+01] [-1.58398972e-01 -1.71684475e-03 9.87373697e-01 -4.89966713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62587156 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:280.90, Y:-88.57, Z:-49.00 [[ 9.20210611e-01 3.62283814e-01 1.48198750e-01 2.80904279e+02] [-3.57954695e-01 9.32066382e-01 -5.58631930e-02 -8.85697694e+01] [-1.58369403e-01 -1.64253523e-03 9.87378567e-01 -4.90013638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65587156000004 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:280.93, Y:-88.58, Z:-49.01 [[ 9.20571494e-01 3.61233384e-01 1.48521266e-01 2.80932175e+02] [-3.56873679e-01 9.32474269e-01 -5.59724539e-02 -8.85777403e+01] [-1.58711378e-01 -1.47668500e-03 9.87323917e-01 -4.90058000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68587156 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:280.96, Y:-88.59, Z:-49.01 [[ 9.20834849e-01 3.60530723e-01 1.48596023e-01 2.80958358e+02] [-3.56158798e-01 9.32746342e-01 -5.59926180e-02 -8.85862779e+01] [-1.58789456e-01 -1.36382703e-03 9.87311526e-01 -4.90106651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71587156 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:280.98, Y:-88.59, Z:-49.02 [[ 9.21563917e-01 3.58751150e-01 1.48383152e-01 2.80984330e+02] [-3.54370851e-01 9.33432630e-01 -5.59001402e-02 -8.85941689e+01] [-1.58559916e-01 -1.06711185e-03 9.87348781e-01 -4.90152041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74587156 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:281.01, Y:-88.60, Z:-49.02 [[ 9.22062165e-01 3.57411705e-01 1.48520160e-01 2.81011224e+02] [-3.53008337e-01 9.33946545e-01 -5.59371534e-02 -8.86026699e+01] [-1.58702484e-01 -8.51321936e-04 9.87326084e-01 -4.90191570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.77587156 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:281.04, Y:-88.61, Z:-49.03 [[ 9.22511898e-01 3.56280922e-01 1.48444272e-01 2.81036513e+02] [-3.51869497e-01 9.34378648e-01 -5.58963222e-02 -8.86124150e+01] [-1.58617952e-01 -6.67989016e-04 9.87339809e-01 -4.90251550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80587156 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:281.06, Y:-88.62, Z:-49.03 [[ 9.23023066e-01 3.55095769e-01 1.48106089e-01 2.81061623e+02] [-3.50691305e-01 9.34829808e-01 -5.57569645e-02 -8.86210197e+01] [-1.58253049e-01 -4.74553428e-04 9.87398474e-01 -4.90295709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83587156 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:281.09, Y:-88.63, Z:-49.03 [[ 9.23065047e-01 3.54984745e-01 1.48110600e-01 2.81087950e+02] [-3.50580784e-01 9.34871976e-01 -5.57449788e-02 -8.86307648e+01] [-1.58253067e-01 -4.68488963e-04 9.87398474e-01 -4.90344183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86587156 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:281.12, Y:-88.64, Z:-49.04 [[ 9.23899065e-01 3.52812103e-01 1.48101784e-01 2.81115877e+02] [-3.48384295e-01 9.35694184e-01 -5.57205184e-02 -8.86387975e+01] [-1.58236852e-01 -1.16200979e-04 9.87401177e-01 -4.90384274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89587156 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:281.14, Y:-88.65, Z:-49.04 [[ 9.24161610e-01 3.52081658e-01 1.48201972e-01 2.81141542e+02] [-3.47639817e-01 9.35969287e-01 -5.57499015e-02 -8.86482075e+01] [-1.58341011e-01 1.01245333e-06 9.87384486e-01 -4.90438683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92587156 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:281.17, Y:-88.66, Z:-49.05 [[ 9.24422724e-01 3.51434891e-01 1.48108559e-01 2.81168350e+02] [-3.46992133e-01 9.36212319e-01 -5.57041564e-02 -8.86581559e+01] [-1.58237442e-01 1.01683117e-04 9.87401085e-01 -4.90487975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95587156 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:281.19, Y:-88.67, Z:-49.05 [[ 9.25184811e-01 3.49450798e-01 1.48044607e-01 2.81194401e+02] [-3.44987912e-01 9.36954616e-01 -5.56721516e-02 -8.86670917e+01] [-1.58165756e-01 4.33429161e-04 9.87412480e-01 -4.90539693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98587156 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:281.22, Y:-88.68, Z:-49.06 [[ 9.25536884e-01 3.48507967e-01 1.48066449e-01 2.81220920e+02] [-3.44033405e-01 9.37305636e-01 -5.56701126e-02 -8.86768315e+01] [-1.58184995e-01 5.84938004e-04 9.87409320e-01 -4.90589815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01587156 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:281.25, Y:-88.69, Z:-49.06 [[ 9.25874723e-01 3.47688065e-01 1.47881732e-01 2.81246588e+02] [-3.43215602e-01 9.37609991e-01 -5.55927577e-02 -8.86865336e+01] [-1.57984327e-01 7.16611602e-04 9.87441360e-01 -4.90636060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04587156 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:281.27, Y:-88.70, Z:-49.07 [[ 9.26198688e-01 3.47018398e-01 1.47425307e-01 2.81272399e+02] [-3.42567095e-01 9.37857966e-01 -5.54095790e-02 -8.86977855e+01] [-1.57492142e-01 8.17220164e-04 9.87519902e-01 -4.90692478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07587156 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:281.30, Y:-88.71, Z:-49.07 [[ 9.26227035e-01 3.46893276e-01 1.47541641e-01 2.81299066e+02] [-3.42434595e-01 9.37904240e-01 -5.54453277e-02 -8.87077740e+01] [-1.57613542e-01 8.31599458e-04 9.87500521e-01 -4.90736226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10587156 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:281.33, Y:-88.72, Z:-49.08 [[ 9.26110793e-01 3.46997905e-01 1.48024498e-01 2.81325173e+02] [-3.42512396e-01 9.37865555e-01 -5.56188757e-02 -8.87171675e+01] [-1.58126711e-01 8.09015771e-04 9.87418497e-01 -4.90784045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13587156 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:281.35, Y:-88.73, Z:-49.08 [[ 9.25833602e-01 3.47823629e-01 1.47820378e-01 2.81351508e+02] [-3.43362583e-01 9.37559753e-01 -5.55323863e-02 -8.87269575e+01] [-1.57905913e-01 6.57762415e-04 9.87453943e-01 -4.90831451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16587156 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:281.38, Y:-88.74, Z:-49.09 [[ 9.25615184e-01 3.48394848e-01 1.47843030e-01 2.81378103e+02] [-3.43941630e-01 9.37347709e-01 -5.55286134e-02 -8.87372852e+01] [-1.57926208e-01 5.48755034e-04 9.87450764e-01 -4.90873197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19587156 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:281.40, Y:-88.75, Z:-49.09 [[ 9.25480341e-01 3.48693403e-01 1.47983273e-01 2.81404352e+02] [-3.44236747e-01 9.37236720e-01 -5.55733018e-02 -8.87484895e+01] [-1.58073401e-01 4.90717632e-04 9.87427242e-01 -4.90927578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22587156000003 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:281.43, Y:-88.76, Z:-49.10 [[ 9.25404880e-01 3.49042860e-01 1.47630928e-01 2.81430741e+02] [-3.44613237e-01 9.37106666e-01 -5.54329636e-02 -8.87591076e+01] [-1.57694407e-01 4.22363149e-04 9.87487871e-01 -4.90974551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25587156 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:281.46, Y:-88.77, Z:-49.10 [[ 9.25385202e-01 3.49094937e-01 1.47631141e-01 2.81457619e+02] [-3.44667239e-01 9.37087275e-01 -5.54250278e-02 -8.87687918e+01] [-1.57691860e-01 4.05882781e-04 9.87488285e-01 -4.91023990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28587156000003 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:281.48, Y:-88.78, Z:-49.11 [[ 9.25423763e-01 3.49112347e-01 1.47347984e-01 2.81483846e+02] [-3.44703214e-01 9.37080794e-01 -5.53107672e-02 -8.87794598e+01] [-1.57386637e-01 3.94574800e-04 9.87536982e-01 -4.91079731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31587156 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:281.51, Y:-88.79, Z:-49.11 [[ 9.25570923e-01 3.48934212e-01 1.46844758e-01 2.81509852e+02] [-3.44554363e-01 9.37147130e-01 -5.51139596e-02 -8.87898778e+01] [-1.56846290e-01 4.15876405e-04 9.87622938e-01 -4.91128488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34587156000003 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:281.53, Y:-88.80, Z:-49.12 [[ 9.25644168e-01 3.48757489e-01 1.46802885e-01 2.81534149e+02] [-3.44379190e-01 9.37212901e-01 -5.50903983e-02 -8.88017690e+01] [-1.56798747e-01 4.38247261e-04 9.87630478e-01 -4.91179976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37587156 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:281.56, Y:-88.81, Z:-49.12 [[ 9.25670636e-01 3.48679120e-01 1.46822156e-01 2.81559866e+02] [-3.44300298e-01 9.37242058e-01 -5.50874661e-02 -8.88129445e+01] [-1.56815749e-01 4.41937796e-04 9.87627777e-01 -4.91224615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40587156000004 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:281.59, Y:-88.82, Z:-49.13 [[ 9.25613364e-01 3.48823408e-01 1.46840494e-01 2.81585944e+02] [-3.44446544e-01 9.37188381e-01 -5.50864444e-02 -8.88245711e+01] [-1.56832646e-01 4.10048491e-04 9.87625108e-01 -4.91272686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43587156 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:281.61, Y:-88.83, Z:-49.13 [[ 9.25450137e-01 3.49055820e-01 1.47316252e-01 2.81611159e+02] [-3.44654529e-01 9.37101863e-01 -5.52571623e-02 -8.88344548e+01] [-1.57338168e-01 3.64535124e-04 9.87544717e-01 -4.91320326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46587156 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:281.64, Y:-88.84, Z:-49.14 [[ 9.25239415e-01 3.49510228e-01 1.47562275e-01 2.81637441e+02] [-3.45101558e-01 9.36932507e-01 -5.53388783e-02 -8.88446195e+01] [-1.57597396e-01 2.77740521e-04 9.87503409e-01 -4.91362425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49587156 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:281.66, Y:-88.85, Z:-49.14 [[ 9.24524505e-01 3.51321045e-01 1.47742895e-01 2.81662580e+02] [-3.46925710e-01 9.36255052e-01 -5.53988248e-02 -8.88544960e+01] [-1.57787805e-01 -3.82375667e-05 9.87473041e-01 -4.91408708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52587156 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:281.69, Y:-88.86, Z:-49.15 [[ 9.24281511e-01 3.52262817e-01 1.47019032e-01 2.81689387e+02] [-3.47924122e-01 9.35901098e-01 -5.51175182e-02 -8.88645385e+01] [-1.57011126e-01 -2.07364595e-04 9.87596812e-01 -4.91461869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55587156 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:281.72, Y:-88.87, Z:-49.15 [[ 9.24009785e-01 3.53070307e-01 1.46789906e-01 2.81716005e+02] [-3.48756628e-01 9.35596727e-01 -5.50234431e-02 -8.88746266e+01] [-1.56763300e-01 -3.51753017e-04 9.87636140e-01 -4.91515545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58587156 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:281.74, Y:-88.88, Z:-49.16 [[ 9.23331860e-01 3.54909374e-01 1.46620641e-01 2.81741611e+02] [-3.50629993e-01 9.34900469e-01 -5.49519933e-02 -8.88844289e+01] [-1.56578683e-01 -6.70667985e-04 9.87665260e-01 -4.91563999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61587156 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:281.77, Y:-88.89, Z:-49.16 [[ 9.23044001e-01 3.55702718e-01 1.46510572e-01 2.81768814e+02] [-3.51441355e-01 9.34598798e-01 -5.49004633e-02 -8.88937396e+01] [-1.56456849e-01 -8.14330707e-04 9.87684459e-01 -4.91617614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64587156 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:281.80, Y:-88.90, Z:-49.17 [[ 9.22869365e-01 3.56377600e-01 1.45969657e-01 2.81795295e+02] [-3.52157497e-01 9.34341552e-01 -5.46896800e-02 -8.89043545e+01] [-1.55875693e-01 -9.32878689e-04 9.87776239e-01 -4.91673758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67587156 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:281.82, Y:-88.91, Z:-49.17 [[ 9.22658744e-01 3.57091960e-01 1.45554710e-01 2.81820556e+02] [-3.52906053e-01 9.34068634e-01 -5.45261868e-02 -8.89148806e+01] [-1.55428952e-01 -1.05807506e-03 9.87846507e-01 -4.91714373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70587156 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:281.85, Y:-88.92, Z:-49.18 [[ 9.22601901e-01 3.57260488e-01 1.45501461e-01 2.81845574e+02] [-3.53081358e-01 9.34004145e-01 -5.44959791e-02 -8.89248687e+01] [-1.55368228e-01 -1.09575938e-03 9.87856018e-01 -4.91767288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73587156 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:281.87, Y:-88.93, Z:-49.18 [[ 9.22630000e-01 3.57200711e-01 1.45470048e-01 2.81870865e+02] [-3.53024182e-01 9.34027009e-01 -5.44745199e-02 -8.89346497e+01] [-1.55331291e-01 -1.09461813e-03 9.87861828e-01 -4.91817376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76587156 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:281.90, Y:-88.94, Z:-49.19 [[ 9.22747965e-01 3.56534892e-01 1.46352536e-01 2.81895462e+02] [-3.52300771e-01 9.34281473e-01 -5.47932065e-02 -8.89449902e+01] [-1.56270153e-01 -9.99791663e-04 9.87713845e-01 -4.91861681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79587156 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:281.92, Y:-88.96, Z:-49.19 [[ 9.22970161e-01 3.55773462e-01 1.46803697e-01 2.81921549e+02] [-3.51505744e-01 9.34571804e-01 -5.49477501e-02 -8.89555922e+01] [-1.56747547e-01 -8.87209071e-04 9.87638304e-01 -4.91909866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82587156 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:281.95, Y:-88.97, Z:-49.20 [[ 9.23495981e-01 3.54070304e-01 1.47612310e-01 2.81947592e+02] [-3.49734817e-01 9.35218610e-01 -5.52422728e-02 -8.89667823e+01] [-1.57609428e-01 -6.09147453e-04 9.87501340e-01 -4.91951573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85587156 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:281.97, Y:-88.98, Z:-49.20 [[ 9.23673061e-01 3.53531385e-01 1.47795927e-01 2.81972579e+02] [-3.49179506e-01 9.35422516e-01 -5.53027043e-02 -8.89771892e+01] [-1.57802879e-01 -5.25690529e-04 9.87470493e-01 -4.91994612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88587156 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:282.00, Y:-88.99, Z:-49.20 [[ 9.23888127e-01 3.52924945e-01 1.47901021e-01 2.81999133e+02] [-3.48560426e-01 9.35651537e-01 -5.53338166e-02 -8.89881872e+01] [-1.57912502e-01 -4.30186587e-04 9.87453015e-01 -4.92042389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91587156 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:282.02, Y:-89.00, Z:-49.21 [[ 9.24140254e-01 3.52373045e-01 1.47641552e-01 2.82023873e+02] [-3.48018180e-01 9.35859562e-01 -5.52288617e-02 -8.89993550e+01] [-1.57632920e-01 -3.42729912e-04 9.87497719e-01 -4.92085623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94587156 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:282.05, Y:-89.01, Z:-49.21 [[ 9.24097270e-01 3.52569366e-01 1.47441776e-01 2.82050478e+02] [-3.48230444e-01 9.35785602e-01 -5.51440339e-02 -8.90099169e+01] [-1.57415989e-01 -3.85264052e-04 9.87532307e-01 -4.92136057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97587156000003 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:282.08, Y:-89.02, Z:-49.22 [[ 9.23964898e-01 3.53034388e-01 1.47158378e-01 2.82076659e+02] [-3.48719349e-01 9.35610228e-01 -5.50301444e-02 -8.90206349e+01] [-1.57110417e-01 -4.71051911e-04 9.87580931e-01 -4.92183590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00587156 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:282.10, Y:-89.03, Z:-49.22 [[ 9.23607742e-01 3.54064602e-01 1.46925141e-01 2.82102381e+02] [-3.49777513e-01 9.35220740e-01 -5.49350519e-02 -8.90329571e+01] [-1.56857996e-01 -6.52671016e-04 9.87620951e-01 -4.92224856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03587156000003 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:282.13, Y:-89.04, Z:-49.23 [[ 9.23241266e-01 3.54914922e-01 1.47176640e-01 2.82129160e+02] [-3.50625092e-01 9.34898255e-01 -5.50208782e-02 -8.90434525e+01] [-1.57122914e-01 -8.06277600e-04 9.87578726e-01 -4.92275601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06587156 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:282.15, Y:-89.05, Z:-49.23 [[ 9.22669525e-01 3.56619207e-01 1.46641358e-01 2.82154873e+02] [-3.52382712e-01 9.34249185e-01 -5.48168298e-02 -8.90543873e+01] [-1.56548304e-01 -1.09606109e-03 9.87669695e-01 -4.92323117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09587156000003 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:282.18, Y:-89.07, Z:-49.24 [[ 9.22450708e-01 3.57414901e-01 1.46079701e-01 2.82181904e+02] [-3.53221894e-01 9.33944897e-01 -5.46005818e-02 -8.90652220e+01] [-1.55945453e-01 -1.23220324e-03 9.87764900e-01 -4.92372741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12587156 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:282.21, Y:-89.08, Z:-49.24 [[ 9.22122815e-01 3.58291573e-01 1.46002268e-01 2.82209679e+02] [-3.54114667e-01 9.33608715e-01 -5.45671104e-02 -8.90762932e+01] [-1.55859925e-01 -1.38396691e-03 9.87778198e-01 -4.92422986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15587156000004 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:282.24, Y:-89.09, Z:-49.25 [[ 9.21851520e-01 3.59032347e-01 1.45895677e-01 2.82236896e+02] [-3.54870758e-01 9.33323899e-01 -5.45274652e-02 -8.90871110e+01] [-1.55745046e-01 -1.50788278e-03 9.87796136e-01 -4.92471735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18587156 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:282.26, Y:-89.10, Z:-49.25 [[ 9.21377598e-01 3.60386017e-01 1.45551504e-01 2.82263777e+02] [-3.56261224e-01 9.32801646e-01 -5.43969572e-02 -8.90978846e+01] [-1.55374585e-01 -1.73421912e-03 9.87854104e-01 -4.92515713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21587156 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:282.29, Y:-89.11, Z:-49.26 [[ 9.21018690e-01 3.61246327e-01 1.45690303e-01 2.82290130e+02] [-3.57124959e-01 9.32468518e-01 -5.44447043e-02 -8.91078046e+01] [-1.55519571e-01 -1.88505338e-03 9.87831013e-01 -4.92558712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24587156 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:282.32, Y:-89.12, Z:-49.26 [[ 9.20824697e-01 3.61818090e-01 1.45497586e-01 2.82317091e+02] [-3.57715412e-01 9.32246608e-01 -5.43686126e-02 -8.91176546e+01] [-1.55311179e-01 -1.98276769e-03 9.87863607e-01 -4.92603710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.27587156 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:282.34, Y:-89.13, Z:-49.27 [[ 9.20448983e-01 3.62880577e-01 1.45228633e-01 2.82344250e+02] [-3.58807567e-01 9.31833138e-01 -5.42598673e-02 -8.91278853e+01] [-1.55018705e-01 -2.16569280e-03 9.87909161e-01 -4.92651394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30587156 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:282.37, Y:-89.14, Z:-49.27 [[ 9.20325981e-01 3.63217853e-01 1.45165006e-01 2.82370503e+02] [-3.59153225e-01 9.31701583e-01 -5.42321095e-02 -8.91376387e+01] [-1.54948536e-01 -2.22526050e-03 9.87920037e-01 -4.92699191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33587156 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:282.40, Y:-89.15, Z:-49.27 [[ 9.20338396e-01 3.63420355e-01 1.44578293e-01 2.82397580e+02] [-3.59392120e-01 9.31622540e-01 -5.40069165e-02 -8.91474525e+01] [-1.54319609e-01 -2.25566020e-03 9.88018406e-01 -4.92747620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36587156 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:282.42, Y:-89.16, Z:-49.28 [[ 9.20364940e-01 3.63309742e-01 1.44687278e-01 2.82424034e+02] [-3.59275305e-01 9.31665704e-01 -5.40395273e-02 -8.91569494e+01] [-1.54433261e-01 -2.24647951e-03 9.88000669e-01 -4.92795352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39587156 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:282.45, Y:-89.17, Z:-49.28 [[ 9.20262378e-01 3.63529126e-01 1.44788573e-01 2.82450732e+02] [-3.59492988e-01 9.31580012e-01 -5.40691557e-02 -8.91661690e+01] [-1.54537853e-01 -2.29266692e-03 9.87984208e-01 -4.92825996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42587156 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:282.48, Y:-89.18, Z:-49.29 [[ 9.20195645e-01 3.63402405e-01 1.45528925e-01 2.82476572e+02] [-3.59324343e-01 9.31629456e-01 -5.43375797e-02 -8.91756131e+01] [-1.55325440e-01 -2.29088104e-03 9.87860698e-01 -4.92880055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45587156 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:282.50, Y:-89.19, Z:-49.29 [[ 9.20289257e-01 3.63222340e-01 1.45386433e-01 2.82503798e+02] [-3.59151701e-01 9.31699731e-01 -5.42740047e-02 -8.91850402e+01] [-1.55170031e-01 -2.26800108e-03 9.87885174e-01 -4.92929160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48587156 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:282.53, Y:-89.19, Z:-49.30 [[ 9.20300267e-01 3.63102669e-01 1.45615487e-01 2.82531496e+02] [-3.59018942e-01 9.31746396e-01 -5.43511903e-02 -8.91944872e+01] [-1.55411767e-01 -2.25930314e-03 9.87847194e-01 -4.92975939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51587156 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:282.56, Y:-89.20, Z:-49.30 [[ 9.20378081e-01 3.62729097e-01 1.46054069e-01 2.82558217e+02] [-3.58616478e-01 9.31892019e-01 -5.45113492e-02 -8.92022794e+01] [-1.55879474e-01 -2.20634502e-03 9.87773619e-01 -4.93025190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54587156 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:282.59, Y:-89.21, Z:-49.31 [[ 9.20466269e-01 3.62537957e-01 1.45972863e-01 2.82585087e+02] [-3.58429353e-01 9.31966449e-01 -5.44695937e-02 -8.92113823e+01] [-1.55789106e-01 -2.18353529e-03 9.87787926e-01 -4.93071171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57587156 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:282.61, Y:-89.22, Z:-49.31 [[ 9.20530069e-01 3.62485986e-01 1.45699355e-01 2.82610874e+02] [-3.58393461e-01 9.31986677e-01 -5.43595585e-02 -8.92200715e+01] [-1.55494436e-01 -2.17808794e-03 9.87834367e-01 -4.93117471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60587156 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:282.64, Y:-89.23, Z:-49.32 [[ 9.20615506e-01 3.62374493e-01 1.45436645e-01 2.82636864e+02] [-3.58297008e-01 9.32030064e-01 -5.42513966e-02 -8.92288900e+01] [-1.55210648e-01 -2.16483797e-03 9.87879025e-01 -4.93168619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63587156 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:282.66, Y:-89.24, Z:-49.32 [[ 9.20931802e-01 3.61645710e-01 1.45248049e-01 2.82664422e+02] [-3.57571432e-01 9.32313350e-01 -5.41709171e-02 -8.92369166e+01] [-1.55007375e-01 -2.04883250e-03 9.87911188e-01 -4.93206634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66587156 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:282.69, Y:-89.25, Z:-49.33 [[ 9.21162462e-01 3.60744955e-01 1.46023271e-01 2.82690513e+02] [-3.56616847e-01 9.32662538e-01 -5.44519582e-02 -8.92456942e+01] [-1.55833704e-01 -1.91525859e-03 9.87781448e-01 -4.93261936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69587156 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:282.72, Y:-89.26, Z:-49.33 [[ 9.21203275e-01 3.60639476e-01 1.46026350e-01 2.82716876e+02] [-3.56511359e-01 9.32703347e-01 -5.44436988e-02 -8.92553514e+01] [-1.55833813e-01 -1.90633904e-03 9.87781448e-01 -4.93310412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72587156000003 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:282.74, Y:-89.26, Z:-49.34 [[ 9.21474268e-01 3.59698151e-01 1.46637010e-01 2.82744172e+02] [-3.55526586e-01 9.33067036e-01 -5.46511942e-02 -8.92640269e+01] [-1.56480093e-01 -1.77368619e-03 9.87679520e-01 -4.93360726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75587156 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:282.77, Y:-89.27, Z:-49.34 [[ 9.22181085e-01 3.58024506e-01 1.46289097e-01 2.82770745e+02] [-3.53853159e-01 9.33710995e-01 -5.45134770e-02 -8.92713641e+01] [-1.56108899e-01 -1.49356169e-03 9.87738721e-01 -4.93406759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78587156000003 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:282.80, Y:-89.28, Z:-49.35 [[ 9.22531386e-01 3.57080982e-01 1.46386527e-01 2.82797208e+02] [-3.52893872e-01 9.34072462e-01 -5.45394418e-02 -8.92802093e+01] [-1.56210621e-01 -1.34456144e-03 9.87722853e-01 -4.93451861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81587156 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:282.82, Y:-89.29, Z:-49.35 [[ 9.22922549e-01 3.56135008e-01 1.46225254e-01 2.82823827e+02] [-3.51946968e-01 9.34433750e-01 -5.44692366e-02 -8.92882420e+01] [-1.56036214e-01 -1.19264800e-03 9.87750615e-01 -4.93496362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84587156000003 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:282.85, Y:-89.30, Z:-49.35 [[ 9.23153452e-01 3.55541003e-01 1.46213196e-01 2.82850927e+02] [-3.51347873e-01 9.34660035e-01 -5.44544882e-02 -8.92970157e+01] [-1.56020434e-01 -1.10184668e-03 9.87753213e-01 -4.93544605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87587156 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:282.88, Y:-89.31, Z:-49.36 [[ 9.23409446e-01 3.54990649e-01 1.45933665e-01 2.82875927e+02] [-3.50807968e-01 9.34869302e-01 -5.43429708e-02 -8.93053502e+01] [-1.55720150e-01 -1.01387997e-03 9.87800692e-01 -4.93585313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90587156000004 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:282.90, Y:-89.31, Z:-49.36 [[ 9.23845289e-01 3.53957271e-01 1.45685046e-01 2.82903275e+02] [-3.49778405e-01 9.35261207e-01 -5.42359925e-02 -8.93142971e+01] [-1.55450796e-01 -8.51816940e-04 9.87843269e-01 -4.93632177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93587156 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:282.93, Y:-89.32, Z:-49.37 [[ 9.24555008e-01 3.51863407e-01 1.46253824e-01 2.82930725e+02] [-3.47626859e-01 9.36051219e-01 -5.44397193e-02 -8.93232796e+01] [-1.56056415e-01 -5.09242264e-04 9.87748012e-01 -4.93680662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96587156 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:282.96, Y:-89.33, Z:-49.37 [[ 9.24934198e-01 3.50811729e-01 1.46382579e-01 2.82957896e+02] [-3.46555847e-01 9.36445949e-01 -5.44796254e-02 -8.93332143e+01] [-1.56191465e-01 -3.39670127e-04 9.87726739e-01 -4.93723290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99587156 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:282.98, Y:-89.34, Z:-49.38 [[ 9.25554561e-01 3.49070995e-01 1.46622627e-01 2.82984663e+02] [-3.44780600e-01 9.37096280e-01 -5.45609770e-02 -8.93426286e+01] [-1.56445173e-01 -5.34763388e-05 9.87686643e-01 -4.93775055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02587156 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:283.01, Y:-89.35, Z:-49.38 [[ 9.26534697e-01 3.46473955e-01 1.46592132e-01 2.83012677e+02] [-3.42154394e-01 9.38059516e-01 -5.45409415e-02 -8.93527850e+01] [-1.56409160e-01 3.76932532e-04 9.87692276e-01 -4.93818762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05587156 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:283.04, Y:-89.36, Z:-49.39 [[ 9.27010493e-01 3.45364822e-01 1.46200840e-01 2.83040621e+02] [-3.41055428e-01 9.38468342e-01 -5.43908731e-02 -8.93640375e+01] [-1.55989554e-01 5.58319944e-04 9.87758547e-01 -4.93869638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08587156 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:283.07, Y:-89.38, Z:-49.39 [[ 9.27647609e-01 3.43713939e-01 1.46050135e-01 2.83067306e+02] [-3.39393102e-01 9.39074028e-01 -5.43349970e-02 -8.93752562e+01] [-1.55827584e-01 8.35321697e-04 9.87783917e-01 -4.93909220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11587156 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:283.09, Y:-89.39, Z:-49.40 [[ 9.27832276e-01 3.43221635e-01 1.46034851e-01 2.83093500e+02] [-3.38895916e-01 9.39253997e-01 -5.43276028e-02 -8.93850698e+01] [-1.55810226e-01 9.16288749e-04 9.87786583e-01 -4.93953403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14587156 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:283.12, Y:-89.39, Z:-49.40 [[ 9.27831456e-01 3.43227656e-01 1.46025905e-01 2.83118970e+02] [-3.38903434e-01 9.39251802e-01 -5.43186370e-02 -8.93946394e+01] [-1.55798753e-01 9.09859507e-04 9.87788399e-01 -4.93997593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17587156 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:283.15, Y:-89.40, Z:-49.40 [[ 9.27689221e-01 3.43506474e-01 1.46273757e-01 2.83145233e+02] [-3.39172682e-01 9.39149921e-01 -5.43996157e-02 -8.94047370e+01] [-1.56059608e-01 8.53874473e-04 9.87747270e-01 -4.94043804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20587156 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:283.17, Y:-89.41, Z:-49.41 [[ 9.27495305e-01 3.43823201e-01 1.46758527e-01 2.83172408e+02] [-3.39465724e-01 9.39034064e-01 -5.45714935e-02 -8.94148804e+01] [-1.56574202e-01 7.95314230e-04 9.87665878e-01 -4.94089764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23587156 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:283.20, Y:-89.43, Z:-49.41 [[ 9.27381863e-01 3.44270548e-01 1.46426330e-01 2.83198440e+02] [-3.39939059e-01 9.38870214e-01 -5.44440722e-02 -8.94250979e+01] [-1.56218811e-01 7.14416264e-04 9.87722214e-01 -4.94134389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26587156 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:283.22, Y:-89.44, Z:-49.42 [[ 9.26733027e-01 3.46120011e-01 1.46173988e-01 2.83224429e+02] [-3.41827309e-01 9.38190162e-01 -5.43443656e-02 -8.94356040e+01] [-1.55948670e-01 3.96457597e-04 9.87765081e-01 -4.94181471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29587156 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:283.25, Y:-89.45, Z:-49.42 [[ 9.26563127e-01 3.46711143e-01 1.45849769e-01 2.83250999e+02] [-3.42446114e-01 9.37971908e-01 -5.42158553e-02 -8.94458496e+01] [-1.55600228e-01 2.88725610e-04 9.87820068e-01 -4.94229112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32587156 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:283.28, Y:-89.46, Z:-49.43 [[ 9.26595837e-01 3.46996897e-01 1.44959679e-01 2.83279114e+02] [-3.42788927e-01 9.37866248e-01 -5.38762645e-02 -8.94577040e+01] [-1.54647687e-01 2.30949422e-04 9.87969655e-01 -4.94276505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35587156 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:283.31, Y:-89.47, Z:-49.43 [[ 9.26634650e-01 3.46901362e-01 1.44940227e-01 2.83305092e+02] [-3.42693270e-01 9.37901585e-01 -5.38696502e-02 -8.94675018e+01] [-1.54627124e-01 2.47444051e-04 9.87972870e-01 -4.94324449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38587156 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:283.33, Y:-89.48, Z:-49.44 [[ 9.26686147e-01 3.46726164e-01 1.45030179e-01 2.83331197e+02] [-3.42511566e-01 9.37966360e-01 -5.38974420e-02 -8.94778699e+01] [-1.54721082e-01 2.71499257e-04 9.87958153e-01 -4.94370728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41587156 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:283.36, Y:-89.49, Z:-49.44 [[ 9.26644962e-01 3.46649303e-01 1.45476373e-01 2.83357569e+02] [-3.42409455e-01 9.37994769e-01 -5.40516320e-02 -8.94892074e+01] [-1.55193037e-01 2.74186912e-04 9.87884126e-01 -4.94418567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44587156 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:283.38, Y:-89.50, Z:-49.45 [[ 9.26749238e-01 3.46216715e-01 1.45841821e-01 2.83383754e+02] [-3.41951334e-01 9.38154503e-01 -5.41794646e-02 -8.95011242e+01] [-1.55579997e-01 3.39972307e-04 9.87823238e-01 -4.94457740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47587156000003 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:283.41, Y:-89.51, Z:-49.45 [[ 9.26887004e-01 3.45636510e-01 1.46341672e-01 2.83409291e+02] [-3.41335702e-01 9.38368380e-01 -5.43573569e-02 -8.95118688e+01] [-1.56110285e-01 4.31490335e-04 9.87739537e-01 -4.94497489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50587156 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:283.44, Y:-89.52, Z:-49.45 [[ 9.26848574e-01 3.45501314e-01 1.46903240e-01 2.83436478e+02] [-3.41167197e-01 9.38418160e-01 -5.45554824e-02 -8.95229060e+01] [-1.56705659e-01 4.46104443e-04 9.87645249e-01 -4.94543613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53587156000003 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:283.46, Y:-89.53, Z:-49.46 [[ 9.26578191e-01 3.46024080e-01 1.47377719e-01 2.83463386e+02] [-3.41668964e-01 9.38225564e-01 -5.47275940e-02 -8.95339118e+01] [-1.57210609e-01 3.55002488e-04 9.87565035e-01 -4.94591883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56587156 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:283.49, Y:-89.55, Z:-49.46 [[ 9.26464337e-01 3.46256037e-01 1.47548600e-01 2.83490399e+02] [-3.41894324e-01 9.38140000e-01 -5.47869730e-02 -8.95455155e+01] [-1.57391563e-01 3.12147965e-04 9.87536226e-01 -4.94640589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59587156000003 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:283.52, Y:-89.56, Z:-49.47 [[ 9.25692694e-01 3.48049568e-01 1.48170630e-01 2.83518004e+02] [-3.43674314e-01 9.37476132e-01 -5.50133409e-02 -8.95576291e+01] [-1.58053799e-01 3.00808520e-06 9.87430502e-01 -4.94681107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62587156 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:283.55, Y:-89.57, Z:-49.47 [[ 9.25233013e-01 3.49322117e-01 1.48047053e-01 2.83545426e+02] [-3.44969997e-01 9.37002676e-01 -5.49698750e-02 -8.95683010e+01] [-1.57922678e-01 -2.11848259e-04 9.87451459e-01 -4.94732543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65587156000004 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:283.57, Y:-89.58, Z:-49.48 [[ 9.24381909e-01 3.51956957e-01 1.47120311e-01 2.83571254e+02] [-3.47692841e-01 9.36015954e-01 -5.46243746e-02 -8.95786868e+01] [-1.56932387e-01 -6.58895249e-04 9.87609129e-01 -4.94777807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68587156 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:283.60, Y:-89.59, Z:-49.48 [[ 9.23777475e-01 3.53489553e-01 1.47242357e-01 2.83597375e+02] [-3.49239271e-01 9.35438011e-01 -5.46594896e-02 -8.95885753e+01] [-1.57057657e-01 -9.29608361e-04 9.87588998e-01 -4.94827130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71587156 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:283.62, Y:-89.60, Z:-49.49 [[ 9.23175793e-01 3.55172139e-01 1.46966689e-01 2.83622709e+02] [-3.50960260e-01 9.34800118e-01 -5.45493813e-02 -8.95983693e+01] [-1.56758899e-01 -1.22079907e-03 9.87636146e-01 -4.94874387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74587156 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:283.65, Y:-89.61, Z:-49.49 [[ 9.21622579e-01 3.58952002e-01 1.47530615e-01 2.83647402e+02] [-3.54757217e-01 9.33354126e-01 -5.47484360e-02 -8.96077264e+01] [-1.57350369e-01 -1.88015570e-03 9.87541050e-01 -4.94915023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.77587156 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:283.67, Y:-89.62, Z:-49.50 [[ 9.20774381e-01 3.61020622e-01 1.47779056e-01 2.83674372e+02] [-3.56840243e-01 9.32555117e-01 -5.48269453e-02 -8.96174195e+01] [-1.57605773e-01 -2.25026775e-03 9.87499548e-01 -4.94960647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80587156 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:283.70, Y:-89.63, Z:-49.50 [[ 9.19806595e-01 3.63342235e-01 1.48115660e-01 2.83700779e+02] [-3.59173853e-01 9.31651939e-01 -5.49436785e-02 -8.96265208e+01] [-1.57955601e-01 -2.66171441e-03 9.87442628e-01 -4.95014646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83587156 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:283.73, Y:-89.63, Z:-49.51 [[ 9.18486323e-01 3.66518169e-01 1.48483358e-01 2.83728242e+02] [-3.62371407e-01 9.30405311e-01 -5.50719640e-02 -8.96347373e+01] [-1.58334580e-01 -3.22327746e-03 9.87380257e-01 -4.95058041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86587156 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:283.76, Y:-89.64, Z:-49.51 [[ 9.17855879e-01 3.68079038e-01 1.48520732e-01 2.83755710e+02] [-3.63951783e-01 9.29787914e-01 -5.50775431e-02 -8.96434802e+01] [-1.58365670e-01 -3.50113826e-03 9.87374324e-01 -4.95108076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89587156 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:283.78, Y:-89.65, Z:-49.52 [[ 9.17414038e-01 3.69160648e-01 1.48566140e-01 2.83782037e+02] [-3.65046229e-01 9.29358247e-01 -5.50862930e-02 -8.96520499e+01] [-1.58406859e-01 -3.69657060e-03 9.87367005e-01 -4.95157132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92587156 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:283.81, Y:-89.66, Z:-49.52 [[ 9.16894133e-01 3.70183925e-01 1.49228048e-01 2.83809233e+02] [-3.66047699e-01 9.28950292e-01 -5.53212191e-02 -8.96599902e+01] [-1.59104464e-01 -3.90088218e-03 9.87254047e-01 -4.95207434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95587156 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:283.84, Y:-89.67, Z:-49.53 [[ 9.16785872e-01 3.70440086e-01 1.49257521e-01 2.83835269e+02] [-3.66306897e-01 9.28847948e-01 -5.53240133e-02 -8.96686100e+01] [-1.59131775e-01 -3.95378578e-03 9.87249434e-01 -4.95253917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98587156 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:283.86, Y:-89.68, Z:-49.53 [[ 9.16650126e-01 3.70701617e-01 1.49441822e-01 2.83860860e+02] [-3.66563226e-01 9.28743345e-01 -5.53823031e-02 -8.96770671e+01] [-1.59323407e-01 -4.01368145e-03 9.87218285e-01 -4.95302359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01587156 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:283.89, Y:-89.68, Z:-49.53 [[ 9.16582583e-01 3.70761262e-01 1.49707897e-01 2.83887243e+02] [-3.66611119e-01 9.28719402e-01 -5.54667514e-02 -8.96848429e+01] [-1.59601552e-01 -4.04472155e-03 9.87173229e-01 -4.95349000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04587156 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:283.91, Y:-89.69, Z:-49.54 [[ 9.16238799e-01 3.71333941e-01 1.50391384e-01 2.83914534e+02] [-3.67155240e-01 9.28489995e-01 -5.57077964e-02 -8.96898731e+01] [-1.60323091e-01 -4.17534045e-03 9.87055760e-01 -4.95398197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07587156 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:283.94, Y:-89.70, Z:-49.54 [[ 9.16224891e-01 3.71406875e-01 1.50295980e-01 2.83939954e+02] [-3.67236380e-01 9.28460728e-01 -5.56607369e-02 -8.96963227e+01] [-1.60216696e-01 -4.19639918e-03 9.87072946e-01 -4.95446348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10587156 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:283.97, Y:-89.70, Z:-49.55 [[ 9.16187325e-01 3.71569540e-01 1.50122825e-01 2.83965331e+02] [-3.67414361e-01 9.28395443e-01 -5.55750771e-02 -8.97036801e+01] [-1.60023353e-01 -4.24010057e-03 9.87104122e-01 -4.95497060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13587156 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:283.99, Y:-89.71, Z:-49.55 [[ 9.16428269e-01 3.70797748e-01 1.50559815e-01 2.83993850e+02] [-3.66610217e-01 9.28704454e-01 -5.57223953e-02 -8.97098260e+01] [-1.60487310e-01 -4.13118832e-03 9.87029258e-01 -4.95546102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16587156 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:284.02, Y:-89.72, Z:-49.56 [[ 9.16701167e-01 3.70167447e-01 1.50449434e-01 2.84020706e+02] [-3.65979030e-01 9.28956326e-01 -5.56731052e-02 -8.97164984e+01] [-1.60369324e-01 -4.02573730e-03 9.87048871e-01 -4.95592787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19587156 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:284.05, Y:-89.72, Z:-49.56 [[ 9.16879879e-01 3.69555287e-01 1.50864763e-01 2.84046683e+02] [-3.65337219e-01 9.29200388e-01 -5.58153613e-02 -8.97229462e+01] [-1.60810458e-01 -3.94053104e-03 9.86977441e-01 -4.95642872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22587156000003 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:284.07, Y:-89.73, Z:-49.57 [[ 9.17605259e-01 3.67435830e-01 1.51629483e-01 2.84072763e+02] [-3.63149130e-01 9.30041884e-01 -5.60785428e-02 -8.97280592e+01] [-1.61627036e-01 -3.60614911e-03 9.86845326e-01 -4.95688083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25587156 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:284.10, Y:-89.74, Z:-49.57 [[ 9.18100920e-01 3.66145783e-01 1.51749683e-01 2.84099576e+02] [-3.61837071e-01 9.30551309e-01 -5.61087818e-02 -8.97355443e+01] [-1.61754860e-01 -3.39513675e-03 9.86825131e-01 -4.95738307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28587156000003 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:284.13, Y:-89.74, Z:-49.58 [[ 9.18851091e-01 3.64651348e-01 1.50804733e-01 2.84127104e+02] [-3.60378323e-01 9.31138895e-01 -5.57478449e-02 -8.97419549e+01] [-1.60748680e-01 -3.12278877e-03 9.86990431e-01 -4.95785537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31587156 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:284.15, Y:-89.75, Z:-49.58 [[ 9.19872800e-01 3.61320247e-01 1.52583458e-01 2.84154851e+02] [-3.56901601e-01 9.32438207e-01 -5.63935858e-02 -8.97472539e+01] [-1.62650791e-01 -2.58235485e-03 9.86680319e-01 -4.95845323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34587156000003 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:284.18, Y:-89.76, Z:-49.59 [[ 9.20750283e-01 3.59193588e-01 1.52311792e-01 2.84180660e+02] [-3.54763948e-01 9.33260447e-01 -5.62803646e-02 -8.97555212e+01] [-1.62362117e-01 -2.21457105e-03 9.86728756e-01 -4.95897033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37587156 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:284.21, Y:-89.76, Z:-49.60 [[ 9.22567527e-01 3.54534296e-01 1.52232032e-01 2.84206178e+02] [-3.50047900e-01 9.35041959e-01 -5.62405738e-02 -8.97614445e+01] [-1.62282550e-01 -1.40277620e-03 9.86743334e-01 -4.95950880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40587156000004 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:284.23, Y:-89.77, Z:-49.60 [[ 9.23462939e-01 3.52139594e-01 1.52361106e-01 2.84232212e+02] [-3.47615547e-01 9.35946961e-01 -5.62736007e-02 -8.97687283e+01] [-1.62418077e-01 -9.96504569e-04 9.86721529e-01 -4.95991138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43587156 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:284.26, Y:-89.78, Z:-49.60 [[ 9.24215180e-01 3.49883069e-01 1.52997188e-01 2.84258882e+02] [-3.45292548e-01 9.36793178e-01 -5.64942261e-02 -8.97769157e+01] [-1.63093096e-01 -6.15967753e-04 9.86610492e-01 -4.96045333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46587156 meters Centerline goodness : 0.989553 Centerline is valid? [True, True] Translation: X:284.29, Y:-89.79, Z:-49.61 [[ 9.25058693e-01 3.47861433e-01 1.52508483e-01 2.84285390e+02] [-3.43274415e-01 9.37545920e-01 -5.63056290e-02 -8.97852588e+01] [-1.62570263e-01 -2.66248804e-04 9.86696934e-01 -4.96087730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49587156 meters Centerline goodness : 0.990409 Centerline is valid? [True, True] Translation: X:284.37, Y:-89.70, Z:-49.60 [[ 9.26139872e-01 3.66647621e-01 8.85124810e-02 2.84365062e+02] [-3.39876450e-01 9.12994649e-01 -2.25665170e-01 -8.97036193e+01] [-1.63551019e-01 1.78914204e-01 9.70175640e-01 -4.96014840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52587156 meters Centerline goodness : 0.986780 Centerline is valid? [True, True] Translation: X:284.32, Y:-89.94, Z:-49.62 [[ 9.22602116e-01 3.10492138e-01 2.28910395e-01 2.84319943e+02] [-3.45606110e-01 9.28911492e-01 1.32965623e-01 -8.99401764e+01] [-1.71352716e-01 -2.01787197e-01 9.64323687e-01 -4.96242882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55587156 meters Centerline goodness : 0.989054 Centerline is valid? [True, True] Translation: X:284.45, Y:-89.70, Z:-49.61 [[ 9.27629568e-01 3.66975972e-01 6.95127314e-02 2.84451472e+02] [-3.36787726e-01 9.02299179e-01 -2.69128629e-01 -8.96995446e+01] [-1.61485021e-01 2.26240639e-01 9.60592401e-01 -4.96143540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58587156 meters Centerline goodness : 0.978306 Centerline is valid? [True, True] Translation: X:284.37, Y:-89.89, Z:-49.70 [[ 9.27144006e-01 2.98440020e-01 2.26577906e-01 2.84368051e+02] [-3.25542759e-01 9.40973421e-01 9.26872848e-02 -8.98872531e+01] [-1.85542193e-01 -1.59695257e-01 9.69572854e-01 -4.97016782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61587156 meters Centerline goodness : 0.982979 Centerline is valid? [True, True] Translation: X:284.45, Y:-89.78, Z:-49.70 [[ 9.26511984e-01 3.43379624e-01 1.53837506e-01 2.84447110e+02] [-3.28645864e-01 9.37608003e-01 -1.13503869e-01 -8.97828163e+01] [-1.83214193e-01 5.46046349e-02 9.81555344e-01 -4.97027446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64587156 meters Centerline goodness : 0.982979 Centerline is valid? [True, True] Translation: X:284.47, Y:-89.82, Z:-49.71 [[ 9.26638854e-01 3.34499590e-01 1.71611358e-01 2.84465307e+02] [-3.28593948e-01 9.42394510e-01 -6.25987529e-02 -8.98231840e+01] [-1.82664859e-01 1.61598287e-03 9.83173910e-01 -4.97105832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67587156 meters Centerline goodness : 0.980142 Centerline is valid? [True, True] Translation: X:284.49, Y:-89.84, Z:-49.71 [[ 9.27005513e-01 3.32670081e-01 1.73180240e-01 2.84490017e+02] [-3.29452209e-01 9.42958023e-01 -4.78686690e-02 -8.98389036e+01] [-1.79226171e-01 -1.26800926e-02 9.83726179e-01 -4.97094439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70587156 meters Centerline goodness : 0.979330 Centerline is valid? [True, True] Translation: X:284.52, Y:-89.83, Z:-49.72 [[ 9.26488272e-01 3.38173936e-01 1.65099576e-01 2.84523194e+02] [-3.30147433e-01 9.40968747e-01 -7.47026775e-02 -8.98322469e+01] [-1.80616040e-01 1.47039534e-02 9.83443765e-01 -4.97183964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73587156 meters Centerline goodness : 0.977928 Centerline is valid? [True, True] Translation: X:284.55, Y:-89.84, Z:-49.73 [[ 9.26081331e-01 3.38023542e-01 1.67670671e-01 2.84549826e+02] [-3.31016126e-01 9.41100337e-01 -6.89817400e-02 -8.98444488e+01] [-1.81112377e-01 8.38100558e-03 9.83426696e-01 -4.97256144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76587156 meters Centerline goodness : 0.969491 Centerline is valid? [True, True] Translation: X:284.56, Y:-89.88, Z:-49.72 [[ 9.26014439e-01 3.28338468e-01 1.86255493e-01 2.84557959e+02] [-3.32305028e-01 9.43114370e-01 -1.04237093e-02 -8.98812157e+01] [-1.79082737e-01 -5.22411315e-02 9.82446048e-01 -4.97239770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79587156 meters Centerline goodness : 0.967469 Centerline is valid? [True, True] Translation: X:284.60, Y:-89.86, Z:-49.73 [[ 9.25297623e-01 3.38868098e-01 1.70272491e-01 2.84595058e+02] [-3.33696380e-01 9.40831298e-01 -5.90186056e-02 -8.98629002e+01] [-1.80197212e-01 -2.20953839e-03 9.83628021e-01 -4.97293795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82587156 meters Centerline goodness : 0.100015 Centerline is valid? [True, False] Translation: X:284.60, Y:-89.86, Z:-49.73 [[ 9.25273454e-01 3.38891005e-01 1.70358214e-01 2.84595173e+02] [-3.33642396e-01 9.40823843e-01 -5.94411342e-02 -8.98609684e+01] [-1.80421136e-01 -1.83941936e-03 9.83587734e-01 -4.97296568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85587156 meters Centerline goodness : 0.104761 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.86, Z:-49.73 [[ 9.25259361e-01 3.38916723e-01 1.70383596e-01 2.84595611e+02] [-3.33526859e-01 9.40815716e-01 -6.02131431e-02 -8.98575816e+01] [-1.80706806e-01 -1.11473138e-03 9.83536378e-01 -4.97301331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88587156 meters Centerline goodness : 0.101464 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.86, Z:-49.73 [[ 9.24464825e-01 3.40856783e-01 1.70825759e-01 2.84599365e+02] [-3.36141638e-01 9.40102006e-01 -5.67187596e-02 -8.98604492e+01] [-1.79926613e-01 -4.98715237e-03 9.83667394e-01 -4.97336354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91587156 meters Centerline goodness : 0.952359 Centerline is valid? [False, True] Translation: X:284.60, Y:-89.86, Z:-49.73 [[ 9.24462968e-01 3.40854732e-01 1.70839904e-01 2.84599712e+02] [-3.36039288e-01 9.40105362e-01 -5.72669699e-02 -8.98584156e+01] [-1.80127227e-01 -4.46772668e-03 9.83633174e-01 -4.97340809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94587156 meters Centerline goodness : 0.105629 Centerline is valid? [True, False] Translation: X:284.60, Y:-89.85, Z:-49.73 [[ 9.25861649e-01 3.37762767e-01 1.69400470e-01 2.84600406e+02] [-3.31915169e-01 9.41229677e-01 -6.26020396e-02 -8.98523938e+01] [-1.80589388e-01 1.73424197e-03 9.83557047e-01 -4.97347236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97587156000003 meters Centerline goodness : 0.947180 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.85, Z:-49.74 [[ 9.25845495e-01 3.37756203e-01 1.69501822e-01 2.84600329e+02] [-3.31905291e-01 9.41232065e-01 -6.26185039e-02 -8.98525899e+01] [-1.80690338e-01 1.71650829e-03 9.83538538e-01 -4.97352239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00587156 meters Centerline goodness : 0.103107 Centerline is valid? [False, False] Translation: X:284.64, Y:-89.86, Z:-49.74 [[ 9.26755021e-01 3.34957574e-01 1.70083961e-01 2.84638245e+02] [-3.27873198e-01 9.42197593e-01 -6.90134893e-02 -8.98598848e+01] [-1.83369290e-01 8.19262549e-03 9.83009962e-01 -4.97425253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03587156000003 meters Centerline goodness : 0.102144 Centerline is valid? [False, False] Translation: X:284.64, Y:-89.86, Z:-49.74 [[ 9.26764967e-01 3.34954196e-01 1.70036416e-01 2.84638800e+02] [-3.27913494e-01 9.42200562e-01 -6.87811075e-02 -8.98610798e+01] [-1.83246928e-01 7.98668542e-03 9.83034474e-01 -4.97433255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06587156 meters Centerline goodness : 0.937278 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.84, Z:-49.74 [[ 9.28087314e-01 3.32408698e-01 1.67804636e-01 2.84599503e+02] [-3.23981040e-01 9.42994566e-01 -7.61415350e-02 -8.98397611e+01] [-1.83548968e-01 1.63004721e-02 9.82875410e-01 -4.97368768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09587156000003 meters Centerline goodness : 0.103179 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.84, Z:-49.74 [[ 9.28124178e-01 3.32336840e-01 1.67743064e-01 2.84600204e+02] [-3.23915999e-01 9.43019907e-01 -7.61044037e-02 -8.98402334e+01] [-1.83477345e-01 1.62996752e-02 9.82888796e-01 -4.97379721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12587156 meters Centerline goodness : 0.109116 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.84, Z:-49.74 [[ 9.26757999e-01 3.34855445e-01 1.70268733e-01 2.84596383e+02] [-3.27236336e-01 9.42206794e-01 -7.18521980e-02 -8.98449496e+01] [-1.84488457e-01 1.08714828e-02 9.82774552e-01 -4.97392284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15587156000004 meters Centerline goodness : 0.924783 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.85, Z:-49.74 [[ 9.26694299e-01 3.34900420e-01 1.70526787e-01 2.84595810e+02] [-3.27313419e-01 9.42193897e-01 -7.16699842e-02 -8.98460542e+01] [-1.84671606e-01 1.06004601e-02 9.82743114e-01 -4.97398640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18587156 meters Centerline goodness : 0.107809 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.84, Z:-49.74 [[ 9.28062451e-01 3.31937437e-01 1.68871621e-01 2.84597648e+02] [-3.23448834e-01 9.43161975e-01 -7.63304719e-02 -8.98419783e+01] [-1.84610233e-01 1.62181160e-02 9.82677991e-01 -4.97402250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21587156 meters Centerline goodness : 0.115749 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.84, Z:-49.74 [[ 9.29357697e-01 3.28971261e-01 1.67547544e-01 2.84598483e+02] [-3.19609196e-01 9.44092880e-01 -8.08615822e-02 -8.98389378e+01] [-1.84781580e-01 2.15995979e-02 9.82542226e-01 -4.97404391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24587156 meters Centerline goodness : 0.118233 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.84, Z:-49.74 [[ 9.29300665e-01 3.29084573e-01 1.67641337e-01 2.84598458e+02] [-3.19782133e-01 9.44061548e-01 -8.05430332e-02 -8.98407946e+01] [-1.84769210e-01 2.12399899e-02 9.82552391e-01 -4.97413625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.27587156 meters Centerline goodness : 0.122053 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.84, Z:-49.74 [[ 9.30629406e-01 3.26040363e-01 1.66212485e-01 2.84599740e+02] [-3.15769631e-01 9.44964441e-01 -8.56256051e-02 -8.98359820e+01] [-1.84982291e-01 2.72008511e-02 9.82365342e-01 -4.97428134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30587156 meters Centerline goodness : 0.124892 Centerline is valid? [False, False] Translation: X:284.60, Y:-89.83, Z:-49.74 [[ 9.31881681e-01 3.23159689e-01 1.64816105e-01 2.84601391e+02] [-3.11955590e-01 9.45769147e-01 -9.05783060e-02 -8.98311103e+01] [-1.85149244e-01 3.29929589e-02 9.82156414e-01 -4.97441755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33587156 meters Centerline goodness : 0.126907 Centerline is valid? [False, False] Translation: X:284.68, Y:-89.83, Z:-49.75 [[ 9.33647364e-01 3.24464400e-01 1.51741401e-01 2.84677517e+02] [-3.08968734e-01 9.43832942e-01 -1.17122582e-01 -8.98322746e+01] [-1.81220642e-01 6.24678413e-02 9.81456493e-01 -4.97473218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36587156 meters Centerline goodness : 0.128644 Centerline is valid? [False, False] Translation: X:284.69, Y:-89.85, Z:-49.75 [[ 9.33445877e-01 3.22936514e-01 1.56175550e-01 2.84694843e+02] [-3.09017015e-01 9.45006812e-01 -1.07100934e-01 -8.98457098e+01] [-1.82173761e-01 5.17120230e-02 9.81905590e-01 -4.97510070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39587156 meters Centerline goodness : 0.132379 Centerline is valid? [False, False] Translation: X:284.69, Y:-89.85, Z:-49.75 [[ 9.31941042e-01 3.26351963e-01 1.58051547e-01 2.84692956e+02] [-3.13286786e-01 9.44140303e-01 -1.02227581e-01 -8.98510122e+01] [-1.82585007e-01 4.57546167e-02 9.82124855e-01 -4.97521515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42587156 meters Centerline goodness : 0.138342 Centerline is valid? [False, False] Translation: X:284.69, Y:-89.85, Z:-49.75 [[ 9.31881092e-01 3.26528231e-01 1.58040957e-01 2.84693711e+02] [-3.13445048e-01 9.44075645e-01 -1.02339528e-01 -8.98504472e+01] [-1.82619363e-01 4.58311160e-02 9.82114900e-01 -4.97530520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45587156 meters Centerline goodness : 0.138283 Centerline is valid? [False, False] Translation: X:284.69, Y:-89.85, Z:-49.75 [[ 9.31812628e-01 3.26726576e-01 1.58034713e-01 2.84694439e+02] [-3.13617244e-01 9.44001515e-01 -1.02495672e-01 -8.98496582e+01] [-1.82673069e-01 4.59443504e-02 9.82099622e-01 -4.97538841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48587156 meters Centerline goodness : 0.142020 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.85, Z:-49.76 [[ 9.31571719e-01 3.27455274e-01 1.57946750e-01 2.84696894e+02] [-3.14316163e-01 9.43743619e-01 -1.02729411e-01 -8.98468326e+01] [-1.82700525e-01 4.60545978e-02 9.82089350e-01 -4.97553560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51587156 meters Centerline goodness : 0.145201 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.84, Z:-49.76 [[ 9.31545998e-01 3.27519720e-01 1.57964829e-01 2.84697672e+02] [-3.14302657e-01 9.43702443e-01 -1.03148140e-01 -8.98448337e+01] [-1.82854845e-01 4.64384713e-02 9.82042552e-01 -4.97560472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54587156 meters Centerline goodness : 0.144728 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.84, Z:-49.76 [[ 9.31502532e-01 3.27602815e-01 1.58048819e-01 2.84698128e+02] [-3.14322805e-01 9.43660477e-01 -1.03470184e-01 -8.98433966e+01] [-1.83041547e-01 4.67043899e-02 9.81995159e-01 -4.97566025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57587156 meters Centerline goodness : 0.154819 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.84, Z:-49.76 [[ 9.31384777e-01 3.27814635e-01 1.58303385e-01 2.84698677e+02] [-3.14474724e-01 9.43580209e-01 -1.03740242e-01 -8.98426118e+01] [-1.83379511e-01 4.68396694e-02 9.81925659e-01 -4.97576461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60587156 meters Centerline goodness : 0.177454 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.84, Z:-49.76 [[ 9.31356495e-01 3.27814084e-01 1.58470835e-01 2.84698844e+02] [-3.14451226e-01 9.43579301e-01 -1.03819693e-01 -8.98424319e+01] [-1.83563357e-01 4.68617970e-02 9.81890252e-01 -4.97587814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63587156 meters Centerline goodness : 0.180997 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.84, Z:-49.76 [[ 9.31329870e-01 3.27814133e-01 1.58627134e-01 2.84699119e+02] [-3.14434866e-01 9.43579545e-01 -1.03867019e-01 -8.98424847e+01] [-1.83726395e-01 4.68565562e-02 9.81860008e-01 -4.97601302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66587156 meters Centerline goodness : 0.187034 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.84, Z:-49.76 [[ 9.32476098e-01 3.25308041e-01 1.57044593e-01 2.84703701e+02] [-3.11334971e-01 9.44223056e-01 -1.07300310e-01 -8.98417793e+01] [-1.83190779e-01 5.11615004e-02 9.81745201e-01 -4.97643171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69587156 meters Centerline goodness : 0.166609 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.84, Z:-49.77 [[ 9.32453962e-01 3.25284105e-01 1.57225507e-01 2.84703707e+02] [-3.11346209e-01 9.44246715e-01 -1.07059229e-01 -8.98431965e+01] [-1.83284334e-01 5.08762370e-02 9.81742564e-01 -4.97657303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72587156000003 meters Centerline goodness : 0.153671 Centerline is valid? [False, False] Translation: X:284.70, Y:-89.84, Z:-49.77 [[ 9.32423451e-01 3.25261528e-01 1.57452997e-01 2.84703597e+02] [-3.11343497e-01 9.44267057e-01 -1.06887568e-01 -8.98444071e+01] [-1.83444092e-01 5.06425081e-02 9.81724809e-01 -4.97669067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75587156 meters Centerline goodness : 0.182967 Centerline is valid? [False, False] Translation: X:284.71, Y:-89.85, Z:-49.77 [[ 9.33057079e-01 3.23832031e-01 1.56643874e-01 2.84708534e+02] [-3.09709031e-01 9.44664178e-01 -1.08119870e-01 -8.98453779e+01] [-1.82988534e-01 5.23679871e-02 9.81719303e-01 -4.97722613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78587156000003 meters Centerline goodness : 0.052190 Centerline is valid? [False, False] Translation: X:284.71, Y:-89.85, Z:-49.77 [[ 9.33026811e-01 3.23798708e-01 1.56892850e-01 2.84708207e+02] [-3.09687534e-01 9.44686964e-01 -1.07982271e-01 -8.98461775e+01] [-1.83179150e-01 5.21625944e-02 9.81694689e-01 -4.97731555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81587156 meters Centerline goodness : 0.111185 Centerline is valid? [False, False] Translation: X:284.71, Y:-89.85, Z:-49.77 [[ 9.33010894e-01 3.23775358e-01 1.57035628e-01 2.84708199e+02] [-3.09672833e-01 9.44701953e-01 -1.07893260e-01 -8.98470118e+01] [-1.83285044e-01 5.20359195e-02 9.81681647e-01 -4.97741006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84587156000003 meters Centerline goodness : 0.818486 Centerline is valid? [False, False] Translation: X:284.73, Y:-89.86, Z:-49.79 [[ 9.32775791e-01 3.20329198e-01 1.65283178e-01 2.84730095e+02] [-3.06229382e-01 9.46104411e-01 -1.05404031e-01 -8.98600743e+01] [-1.90139133e-01 4.77037633e-02 9.80597502e-01 -4.97887926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87587156 meters Centerline goodness : 0.814314 Centerline is valid? [False, False] Translation: X:284.73, Y:-89.86, Z:-49.79 [[ 9.32719319e-01 3.20348261e-01 1.65564681e-01 2.84729451e+02] [-3.06277426e-01 9.46113270e-01 -1.05184686e-01 -8.98617637e+01] [-1.90338673e-01 4.73990641e-02 9.80573566e-01 -4.97893420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90587156000004 meters Centerline goodness : 0.811026 Centerline is valid? [False, False] Translation: X:284.73, Y:-89.86, Z:-49.79 [[ 9.32646448e-01 3.20413348e-01 1.65848994e-01 2.84728833e+02] [-3.06375687e-01 9.46107832e-01 -1.04947168e-01 -8.98634261e+01] [-1.90537506e-01 4.70665038e-02 9.80550969e-01 -4.97902531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93587156 meters Centerline goodness : 0.803093 Centerline is valid? [False, False] Translation: X:284.78, Y:-89.88, Z:-49.80 [[ 9.33889666e-01 3.18977221e-01 1.61566162e-01 2.84776542e+02] [-3.05261456e-01 9.46543575e-01 -1.04262671e-01 -8.98807641e+01] [-1.86186830e-01 4.80499089e-02 9.81338714e-01 -4.97967563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96587156 meters Centerline goodness : 0.816677 Centerline is valid? [False, False] Translation: X:284.78, Y:-89.88, Z:-49.80 [[ 9.33859693e-01 3.18997234e-01 1.61699837e-01 2.84776604e+02] [-3.05330981e-01 9.46553527e-01 -1.03968324e-01 -8.98827043e+01] [-1.86223159e-01 4.77198573e-02 9.81347925e-01 -4.97979520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99587156 meters Centerline goodness : 0.806702 Centerline is valid? [False, False] Translation: X:284.83, Y:-89.90, Z:-49.80 [[ 9.35525434e-01 3.17268554e-01 1.55347436e-01 2.84826089e+02] [-3.03768869e-01 9.46977052e-01 -1.04684941e-01 -8.98995684e+01] [-1.80323697e-01 5.07457098e-02 9.82297428e-01 -4.98038536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02587156 meters Centerline goodness : 0.787681 Centerline is valid? [False, False] Translation: X:284.83, Y:-89.90, Z:-49.81 [[ 9.35451322e-01 3.17399762e-01 1.55525612e-01 2.84826120e+02] [-3.03953974e-01 9.46954665e-01 -1.04349620e-01 -8.99018364e+01] [-1.80396249e-01 5.03413621e-02 9.82304912e-01 -4.98052471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05587156 meters Centerline goodness : 0.785985 Centerline is valid? [False, False] Translation: X:284.83, Y:-89.90, Z:-49.81 [[ 9.35377233e-01 3.17504100e-01 1.55758077e-01 2.84826004e+02] [-3.04085593e-01 9.46935189e-01 -1.04142687e-01 -8.99033463e+01] [-1.80558534e-01 5.00489110e-02 9.82290040e-01 -4.98065331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08587156 meters Centerline goodness : 0.781407 Centerline is valid? [False, False] Translation: X:284.87, Y:-89.92, Z:-49.81 [[ 9.36163358e-01 3.17572846e-01 1.50816627e-01 2.84872216e+02] [-3.04793856e-01 9.46939241e-01 -1.02013625e-01 -8.99233235e+01] [-1.75210940e-01 4.95334361e-02 9.83284072e-01 -4.98104894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11587156 meters Centerline goodness : 0.613652 Centerline is valid? [False, False] Translation: X:284.87, Y:-89.92, Z:-49.81 [[ 9.36072105e-01 3.17756443e-01 1.50996214e-01 2.84872119e+02] [-3.05001545e-01 9.46891148e-01 -1.01839145e-01 -8.99249200e+01] [-1.75337023e-01 4.92747041e-02 9.83274596e-01 -4.98115022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14587156 meters Centerline goodness : 0.777239 Centerline is valid? [False, False] Translation: X:284.87, Y:-89.93, Z:-49.81 [[ 9.35993774e-01 3.17916076e-01 1.51145701e-01 2.84872442e+02] [-3.05159691e-01 9.46842747e-01 -1.01815396e-01 -8.99254020e+01] [-1.75479962e-01 4.91750013e-02 9.83254088e-01 -4.98125537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17587156 meters Centerline goodness : 0.774555 Centerline is valid? [False, False] Translation: X:284.87, Y:-89.93, Z:-49.81 [[ 9.35911113e-01 3.18102242e-01 1.51265833e-01 2.84872960e+02] [-3.05342766e-01 9.46784219e-01 -1.01810795e-01 -8.99258036e+01] [-1.75602346e-01 4.90979268e-02 9.83236091e-01 -4.98137554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20587156 meters Centerline goodness : 0.653716 Centerline is valid? [False, False] Translation: X:284.92, Y:-89.94, Z:-49.82 [[ 9.36174907e-01 3.20094538e-01 1.45313555e-01 2.84922362e+02] [-3.08081908e-01 9.46155393e-01 -9.93756032e-02 -8.99444236e+01] [-1.69298791e-01 4.82644689e-02 9.84382273e-01 -4.98166726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23587156 meters Centerline goodness : 0.782484 Centerline is valid? [False, False] Translation: X:284.92, Y:-89.94, Z:-49.82 [[ 9.36091668e-01 3.20340632e-01 1.45307499e-01 2.84923679e+02] [-3.08313997e-01 9.46069447e-01 -9.94740190e-02 -8.99443303e+01] [-1.69336556e-01 4.83164644e-02 9.84373227e-01 -4.98182503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26587156 meters Centerline goodness : 0.791160 Centerline is valid? [False, False] Translation: X:284.93, Y:-89.94, Z:-49.82 [[ 9.36020299e-01 3.20570654e-01 1.45259962e-01 2.84925013e+02] [-3.08524397e-01 9.45985909e-01 -9.96160439e-02 -8.99438143e+01] [-1.69347858e-01 4.84263968e-02 9.84365881e-01 -4.98197448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29587156 meters Centerline goodness : 0.666136 Centerline is valid? [False, False] Translation: X:284.93, Y:-89.94, Z:-49.82 [[ 9.35946461e-01 3.20811800e-01 1.45203344e-01 2.84926536e+02] [-3.08739076e-01 9.45896351e-01 -9.98011863e-02 -8.99431032e+01] [-1.69364712e-01 4.85786208e-02 9.84355481e-01 -4.98211735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32587156 meters Centerline goodness : 0.666595 Centerline is valid? [False, False] Translation: X:284.98, Y:-89.96, Z:-49.82 [[ 9.36080223e-01 3.23352461e-01 1.38553246e-01 2.84980426e+02] [-3.11936823e-01 9.45033135e-01 -9.80193504e-02 -8.99600780e+01] [-1.62632207e-01 4.85341159e-02 9.85492367e-01 -4.98220325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35587156 meters Centerline goodness : 0.684240 Centerline is valid? [False, False] Translation: X:284.98, Y:-89.96, Z:-49.82 [[ 9.36014009e-01 3.23540335e-01 1.38561998e-01 2.84981442e+02] [-3.12092710e-01 9.44960688e-01 -9.82213707e-02 -8.99595044e+01] [-1.62714216e-01 4.86923894e-02 9.85471022e-01 -4.98231832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38587156 meters Centerline goodness : 0.674167 Centerline is valid? [False, False] Translation: X:284.98, Y:-89.96, Z:-49.82 [[ 9.35956077e-01 3.23691801e-01 1.38599569e-01 2.84982614e+02] [-3.12195624e-01 9.44896367e-01 -9.85126831e-02 -8.99584912e+01] [-1.62849977e-01 4.89333653e-02 9.85436660e-01 -4.98244230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41587156 meters Centerline goodness : 0.744402 Centerline is valid? [False, False] Translation: X:285.03, Y:-89.97, Z:-49.83 [[ 9.36314540e-01 3.25287393e-01 1.32299639e-01 2.85031400e+02] [-3.14430601e-01 9.44352659e-01 -9.65994422e-02 -8.99737230e+01] [-1.56360096e-01 4.88484074e-02 9.86491436e-01 -4.98255047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44587156 meters Centerline goodness : 0.679055 Centerline is valid? [False, False] Translation: X:285.03, Y:-89.97, Z:-49.83 [[ 9.36296248e-01 3.25368761e-01 1.32228990e-01 2.85033015e+02] [-3.14478369e-01 9.44312306e-01 -9.68381339e-02 -8.99727217e+01] [-1.56373566e-01 4.90860244e-02 9.86477506e-01 -4.98272024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47587156000003 meters Centerline goodness : 0.687088 Centerline is valid? [False, False] Translation: X:285.04, Y:-89.98, Z:-49.83 [[ 9.35825668e-01 3.26798052e-01 1.32035421e-01 2.85040014e+02] [-3.16114479e-01 9.43885055e-01 -9.56694316e-02 -8.99751246e+01] [-1.55890844e-01 4.77916016e-02 9.86617458e-01 -4.98333323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50587156 meters Centerline goodness : 0.687088 Centerline is valid? [False, False] Translation: X:285.04, Y:-89.98, Z:-49.83 [[ 9.35825668e-01 3.26798052e-01 1.32035421e-01 2.85040014e+02] [-3.16114479e-01 9.43885055e-01 -9.56694316e-02 -8.99751246e+01] [-1.55890844e-01 4.77916016e-02 9.86617458e-01 -4.98333323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53587156000003 meters Centerline goodness : 0.660347 Centerline is valid? [False, False] Translation: X:285.04, Y:-89.97, Z:-49.83 [[ 9.35807029e-01 3.26808971e-01 1.32140462e-01 2.85041291e+02] [-3.16096673e-01 9.43875822e-01 -9.58192331e-02 -8.99747070e+01] [-1.56038772e-01 4.78991514e-02 9.86588857e-01 -4.98348748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56587156 meters Centerline goodness : 0.684403 Centerline is valid? [False, False] Translation: X:285.04, Y:-89.98, Z:-49.84 [[ 9.35783634e-01 3.26824328e-01 1.32268094e-01 2.85041906e+02] [-3.16112802e-01 9.43874836e-01 -9.57757234e-02 -8.99751577e+01] [-1.56146362e-01 4.78137166e-02 9.86575979e-01 -4.98360712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59587156000003 meters Centerline goodness : 0.705882 Centerline is valid? [False, False] Translation: X:285.05, Y:-89.98, Z:-49.84 [[ 9.36668736e-01 3.24871364e-01 1.30806250e-01 2.85049201e+02] [-3.13780768e-01 9.44368347e-01 -9.85396137e-02 -8.99757907e+01] [-1.55541981e-01 5.12544897e-02 9.86498692e-01 -4.98417433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62587156 meters Centerline goodness : 0.681522 Centerline is valid? [False, False] Translation: X:285.06, Y:-89.98, Z:-49.85 [[ 9.37520564e-01 3.23038287e-01 1.29234119e-01 2.85055818e+02] [-3.11601808e-01 9.44809892e-01 -1.01185871e-01 -8.99756365e+01] [-1.54788584e-01 5.45942498e-02 9.86438017e-01 -4.98477651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65587156000004 meters Centerline goodness : 0.677973 Centerline is valid? [False, False] Translation: X:285.06, Y:-89.98, Z:-49.85 [[ 9.37538081e-01 3.22974958e-01 1.29265319e-01 2.85056775e+02] [-3.11578382e-01 9.44846341e-01 -1.00917311e-01 -8.99773610e+01] [-1.54729628e-01 5.43375431e-02 9.86461441e-01 -4.98493694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68587156 meters Centerline goodness : 0.680453 Centerline is valid? [False, False] Translation: X:285.06, Y:-89.98, Z:-49.85 [[ 9.37556495e-01 3.22895029e-01 1.29331434e-01 2.85057632e+02] [-3.11527781e-01 9.44885892e-01 -1.00702996e-01 -8.99787361e+01] [-1.54719944e-01 5.41244134e-02 9.86474676e-01 -4.98509282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71587156 meters Centerline goodness : 0.656274 Centerline is valid? [False, False] Translation: X:285.06, Y:-89.98, Z:-49.85 [[ 9.37599895e-01 3.22724281e-01 1.29442940e-01 2.85059715e+02] [-3.11356535e-01 9.44947089e-01 -1.00658368e-01 -8.99803692e+01] [-1.54801629e-01 5.40743699e-02 9.86464606e-01 -4.98527476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74587156 meters Centerline goodness : 0.668562 Centerline is valid? [False, False] Translation: X:285.06, Y:-89.98, Z:-49.85 [[ 9.37577806e-01 3.22756352e-01 1.29522948e-01 2.85060395e+02] [-3.11412380e-01 9.44947631e-01 -1.00480371e-01 -8.99816807e+01] [-1.54823081e-01 5.38731161e-02 9.86472251e-01 -4.98542573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.77587156 meters Centerline goodness : 0.665298 Centerline is valid? [False, False] Translation: X:285.06, Y:-89.98, Z:-49.86 [[ 9.37573744e-01 3.22761608e-01 1.29539257e-01 2.85061359e+02] [-3.11432820e-01 9.44951756e-01 -1.00378169e-01 -8.99827157e+01] [-1.54806568e-01 5.37691593e-02 9.86480514e-01 -4.98557640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80587156 meters Centerline goodness : 0.654128 Centerline is valid? [False, False] Translation: X:285.11, Y:-89.99, Z:-49.85 [[ 9.39023636e-01 3.21400169e-01 1.22215147e-01 2.85111888e+02] [-3.10229628e-01 9.45173744e-01 -1.02000838e-01 -8.99947218e+01] [-1.48297634e-01 5.78664379e-02 9.87248341e-01 -4.98547307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83587156 meters Centerline goodness : 0.650086 Centerline is valid? [False, False] Translation: X:285.11, Y:-90.00, Z:-49.86 [[ 9.39017322e-01 3.21430020e-01 1.22185153e-01 2.85113024e+02] [-3.10265007e-01 9.45164691e-01 -1.01977117e-01 -8.99952010e+01] [-1.48263599e-01 5.78485016e-02 9.87254504e-01 -4.98562723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86587156 meters Centerline goodness : 0.633008 Centerline is valid? [False, False] Translation: X:285.16, Y:-90.00, Z:-49.85 [[ 9.40477147e-01 3.19912363e-01 1.14711883e-01 2.85157276e+02] [-3.08956909e-01 9.45417091e-01 -1.03596100e-01 -9.00045948e+01] [-1.41592248e-01 6.19887354e-02 9.87982303e-01 -4.98534579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89587156 meters Centerline goodness : 0.547989 Centerline is valid? [False, False] Translation: X:285.16, Y:-90.00, Z:-49.86 [[ 9.40504286e-01 3.19845462e-01 1.14675928e-01 2.85158947e+02] [-3.08882524e-01 9.45434206e-01 -1.03661703e-01 -9.00041029e+01] [-1.41574270e-01 6.20728858e-02 9.87979596e-01 -4.98552100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92587156 meters Centerline goodness : 0.526469 Centerline is valid? [False, False] Translation: X:285.19, Y:-90.01, Z:-49.85 [[ 9.42302628e-01 3.16970353e-01 1.07682648e-01 2.85192409e+02] [-3.06197197e-01 9.46107235e-01 -1.05472155e-01 -9.00099475e+01] [-1.35310878e-01 6.64145636e-02 9.88574768e-01 -4.98512187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95587156 meters Centerline goodness : 0.471008 Centerline is valid? [False, False] Translation: X:285.20, Y:-90.01, Z:-49.86 [[ 9.43152281e-01 3.15012049e-01 1.05977279e-01 2.85199798e+02] [-3.03962294e-01 9.46507161e-01 -1.08310287e-01 -9.00090263e+01] [-1.34427299e-01 6.99399971e-02 9.88452173e-01 -4.98570335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98587156 meters Centerline goodness : 0.615445 Centerline is valid? [False, False] Translation: X:285.21, Y:-90.01, Z:-49.86 [[ 9.44018888e-01 3.12996539e-01 1.04218548e-01 2.85207256e+02] [-3.01670861e-01 9.46900156e-01 -1.11242016e-01 -9.00076671e+01] [-1.33502926e-01 7.35748654e-02 9.88313568e-01 -4.98626825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7676.57 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%| | 0/10328 [00:00